Dissertations / Theses on the topic 'Power steering'

This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through a passive open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on. In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Another important tool is hardware-in-the-loop simulation. A test rig of an electrohydraulic power steering system, is developed. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has on a system level. As it turns out, the valves add a great deal of time lag and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the time lag is much less critical.

There is a clear trend in the vehicle industry to implement more safetyrelated functions, where the focus is on active safety systems and today the steering system is also involved. Steering-related active safety functions can only be realised with a steering system that allows electroniccontrol of either the road wheel angle or the torque required to steer the vehicle, called active steering. The high power requirement of heavy vehicles means they must rely on hydraulic power to assist the driver. Thesystem is a pure hydro-mechanical system with an open-centre circuit activated by the driver’s steering action and suffers from poor energy efficiency. The main task of the hydraulic system is to control the pressure in the assistance cylinder in such a way that it eases the load on the driver. This work suggests a way to design and evaluate a self-regulating pressure control valve for use as actuator in the steering system. This valve can be made small and fast and is electronically controlled to enable active steering. It is based on a closed-centre circuit and has therefore the potential to improve energy efficiency. The aim of this work has been to investigate the possibility for the valve to perform as the  original open-centre valve. The suggested approach is a model-based design and evaluation process where an optimisation routine is used to design the valve. Together with a validated model of the steering system, the new concept is compared with the original system. A hardware-inthe-loop simulation test rig has also been designed and built with the possibility to test a closed-centre steering system. It has partly been used to support the modelling process and partly to verify that a closedcentre steering system is a feasible solution. The simulation results  have shown that the designed valve can perform sufficiently well compared to the original system.

Transfer path analysis (TPA) is an established and valuable tool in the automotive industry, to determine the contributions of structure-borne sound sources to receiver responses at target positions. The classical TPA approach is based on contact forces at the interface between source and receiver to characterise the dynamic loads induced by the source and frequency response functions (FRFs) to quantify the transfer paths of the sound from the interface locations to the target positions. With knowledge of the determined contributions it is then possible to decide whether source loads or FRFs must be improved to optimise the target quantities. Recently a timesaving improvement to classical TPA has been proposed, where the loads are characterised using the in-situ blocked force method, so that dismantling of source and receiver is not necessary. This method is therefore called in-situ TPA. However, if the contributions of internal structure-borne sound sources to the overall vibro-acoustic behaviour of a product are desired it is of benefit if the target quantities are blocked forces. Thus it would be possible to virtually couple the product with the properties of an overall receiver. Therefore this thesis presents a TPA approach called “blocked force transmissibility transfer path analysis” (bfTPA). In this context, the proposed internal-source-path-receiver-model (ISPRM) poses the theoretical basis of bfTPA. The aim of the presented novel TPA is to determine the contribution of internal structure-borne sound sources to an overall target quantity of a product. The presented approach uses the vector of in-situ blocked forces measured externally at the contact interface of the overall product and a corresponding set of “blocked force transmissibility” (BFT) functions relating the external coupling degrees of freedom (DOFs) to the internal source DOFs in order to propagate the external in-situ blocked forces back to multiple internal in-situ blocked forces. To prove the methodology of the presented approach three case studies, which increase in complexity, were carried out experimentally. The case studies concern a beam and an electric power steering system with paraxial servo unit (EPSapa), respectively. EPSapa systems consist of multiple embedded vibrational components which are defined as “internal sources”. The electric motor, the ball nut assembly and the toothed belt are identified as the main internal sources of an EPSapa system. Hence they are characterised by means of experimentally determined blocked forces. For the determination, micro electro mechanical systems (MEMS) accelerometers are embedded at the so called “internal interfaces”. This poses a novel application of the in-situ method in combination with the dealing of continuous and revolving internal interfaces. Concluding a further application of the bfTPA methodology is presented. It allows the external in-situ blocked forces of EPS systems or other products to be predicted based on internal insitu blocked forces and the BFT functions within internal receivers such as housings, for instance. Hence, the proposed approach is called “virtual component assembly”. It offers the advantage to synthesize a virtual EPS system based on the in-situ blocked forces of its components which are determined on test benches.

There are several benets of electrohydraulic power steering systems, as compared to hydraulicpower steering systems where the pump is driven directly by the engine of the vehicle. Someof these benets are increased eciency and improved steering performance. The purpose ofthis project is to create a simulation model of the electrohydraulic power steering system inSimulink, excluding the hydraulic circuit. The model should thus consist of the electric motor,the drive electronics, the control system, the hydraulic pump as well as the communication andinterface to the master simulation system in which the model will be used.As a start a mathematical model of the motor is derived. Then the motor controller includingtwo current controllers and a speed controller is developed. The switching signals for the threephase bridge that drives the motor are calculated using space vector modulation. The motordrives a hydraulic pump, which is modeled using data sheet eciency curves. Finally a thermalmodel of the drive is developed. To fulll real time requirements, a lumped parameter approachis chosen. The nal model is exported as a Functional Mock-up Unit, which is a black-boxencapsulation of the complete simulation model.The simulation model is compared to measurement data to conrm its validity. Thesecomparisons shows that the dynamic response of the motor and its controller are close to themeasured values and that the thermal model adequately corresponds to the thermal tests. Thehydraulic pump model varied from measurements more than the other sub-modules. It was,however, seen as acceptable. Overall the system response was satisfactory, but naturally a lotof future improvements and new features could be made to improve the model.
Det finns flera fördelar med elektrohydraulisk servostyrning, där hydraulpumpen drivs av en el-motor, jämfört med hydraulisk servostyrning, där pumpen drivs direkt av fordonets förbränningsmotor. Några av dessa fördelar är ökad effektivitet och förbättrad styrprestanda. Syftet med detta projekt är att skapa en Simulink-modell av ett elektrohydraulisk system för servostyrning, exklusive hydraulkretsen. Modellen ska alltså bestå av delmodeller för elmotorn, drivelektroniken, styrsystemet, hydraulpumpen samt kommunikation med den övergripande simuleringsplattformen.Inledningsvis beskrivs en matematisk modell av elmotorn och efter det utvecklas motorstyrningen, bestående av två strömregulatorer samt en hastighetsregulator. Spänningen från strömregulatorerna uppnås genom space vector-modulation, som beräknar de pulskvoter som krävs för att uppnå denna spänning. Elmotorn driver en pump. Denna pump modelleras med hjälp av data från pumpens datablad. Slutligen modelleras drivelektronikens termiska egenskaper med ett termiskt nätverk. Den slutliga modellen omsluts av en Functional Mock-up Unit somintegreras i den övergripande simuleringsplattformen.

Future heavy duty vehicles will be designed and manufactured with improved Advanced Driver Assistance Systems, ADAS. When developing ADAS, an accurate model of the vehicle dynamics greatly simplifies the development process. One element integral to the vehicle lateral dynamics and development of ADAS is the steering system. This thesis aims to develop an accurate model of a heavy duty vehicle steering system suitable for simulations. The input to the system is an input torque at the steering wheel and the output is the wheel angle. Physical models of the system components are developed using bond graphs and known relations. Some components are modelled with non-linear inefficiencies and friction of different complexity. Unknown parameters and functions are identified from measurement data using system identification tools such as, for example, linear regression and non-linear grid search. The different subsystems are identified separately to the extent deemed possible. Different model designs are considered, validated, and compared. The advantages and disadvantages of different model choices are discussed. Finally, a non-linear state space model is selected for its high accuracy and efficiency. As this final model can be used to simulate a heavy duty vehicle steering system on a desktop computer faster than real time, it fulfills its purpose.

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references (leaves 59-60).
The goal of this study was to determine performance curves for a variety of positive displacement pumps in order to select an efficient and low cost option for use as a boiler feed pump in a 1-kWe organic Rankine cycle (ORC) system built by the Solar Turbine Group in Lesotho. The pumps tested included OEM plunger and piston pumps, and rotary vane-type power steering pumps purchased from a junk yard. Motor speed and torque were measured at different flow rates to determine the power consumed to move fluid in the prescribed pressure regime. The test station was designed to pump deionized water; it was intended that measurements and calculations would then be non-dimensionalized and used to predict the ORC working fluid's properties. Unfortunately, deionized water caused the power steering pump shafts to seize; the efficiencies were below anticipated and the pumps were unable to operate under the specified pressures. It was discovered, after WD-40 was added to the water, that power steering pumps performed best when moving fluids with more lubricity. The optimal pump was selected based on how the pump efficiency affected the overall ORC system efficiency, defined as the electrical work output divided by the heat input, and the net electric power output. Power steering pumps achieved efficiencies between 34%-54% under the desired ORC operating conditions with water-oil emulsion as the working fluid. For that pump efficiency range, the overall solar thermal electric ORC system efficiency would be 7.4%-8.5% and the overall system cost would be USD 4.59-5.27 per installed Watt. Made specifically for pumping hydroflurorcarbons, the working fluid used in STG's ORC, the OEM Dynex pump exhibited poorer performance than predicted. The pump efficiency of 31% gave a system efficiency of 7.1% and a cost of USD 6.40 per installed Watt. The OEM water piston and plunger pumps made by Hypro achieved efficiencies of 70% and 81%, respectively, under the same ORC operating conditions described above.
(cont) For those pump efficiencies, the overall system efficiencies would be 9.0% and 9.2% and the costs would be USD 4.58 and 4.63 per installed Watt, respectively. The most optimal pump is the HyproPiston pump; although it costs nearly six times that of a power steering pump, the overall system cost is lower when normalized over the power output.
by Cynthia Lin.
S.B.

The vehicle brands of today need to develop high quality products in a short period of time to satisfy the consumer needs and to stand out in the competition. To be able to do this simulation tools have been used more and more in the development process. This would enable quick evaluation of different concepts and setups without the need of building physical prototypes (though physical prototypes are still common to validate development in different stages). The goal of this thesis is to contribute to this trend by developing and evaluating a process of optimizing the control parameters of an EPAS (electronic power assist steering) system by solely using computer aided engineering (CAE) tools. This tuning is done to improve the steering feel for the driver. The process could then be used to improve the initial tuning of such a system or in a later stage completely parameterize it. In this project, a complete process from setting up the simulation environment to developing the optimization process of the parameters was developed. A vehicle model was simulated using the real time simulation software IPG CarMaker, parameterized by multi-body simulation results and tyre measurements. The steering system itself was modelled by the supplier in Simulink so that the entire vehicle could be co-simulated using both CarMaker and Simulink. To evaluate the performance of the steering system objective metrics were used, each of which had a target range. The optimization process itself utilizes the optimization tool Tomlab, which is a powerful Matlab toolbox. Tomlab uses a complex strategy of evaluating the response of a system when the relationship between the inputs (in this case the EPAS control parameters) and the outputs (in this case the objective metrics) is unknown. A cost function using the difference between the target metric value and the actual metric value was set up and the weighing factors for each of the tested metrics were determined by their sensitivity to the optimized parameter. The developed process was tested on three specific metrics for two specific parameters of the controller. These metrics were the friction feel, the torque build-up and the torque deadband, all three of which relates to the torque feedback of the steering wheel. All three metric values had room for improvement but after going through the developed process they could be adapted to be closer to the optimal target. These results need to be validated, but as a proof of concept the work described in this thesis shows that it is possible to parameterize a vehicle subsystem by only using CAE tools.

De nos jours, la plupart des véhicules sont équipés de Directions Assistées Electriques (DAE). Ce type de systèmes d'aide à la conduite permet de réduire les efforts que le conducteur doit fournir pour tourner les roues. Ainsi, grâce à un moteur électrique, la DAE applique un couple additionnel en accord avec le comportement du conducteur et la dynamique du véhicule. Il est donc nécessaire de développer une commande en couple basée en particulier sur le signal provenant d'un capteur mesurant le couple agissant au niveau de la barre de torsion (correspondant à une image du couple conducteur). Ce composant est donc essentiel au fonctionnement de la DAE. Or, une défaillance de ce capteur entraine le plus souvent une coupure de l'assistance, pouvant mener à un risque d'accidents. Au regard de la sécurité fonctionnelle, un développement d'un mode de sécurité est recommandé, par de plus en plus de constructeurs automobiles. D'autre part, le marché des équipementiers automobiles reste un secteur très concurrentiel où une baisse des coûts de production est un challenge constamment recherché afin de gagner de nouvelles parts de marchés. Cet aspect de réduction du nombre de capteurs et d'analyse de la dynamique du véhicule s'inscrit donc dans le prolongement de la stratégie de sécurité. Cette thèse, menée au sein de JTEKT Europe, aborde ces divers enjeux. Après une présentation des différents systèmes de directions assistés électriques, des modèles sont présentés pour être utilisés lors de la conception de lois de commande et d'estimateurs. Ensuite deux méthodes d'estimation du couple conducteur sujet aux perturbations de la route et aux bruits de mesures sont proposées : la première est un observateur proportionnel intégral (PI) à synthèse mixte $H_infty/H_2$, et la seconde une approche par filtrage $H_infty$. Puis plusieurs stratégies de commande sont proposées suivant deux cas de figures distincts, soit en utilisant un observateur PI qui estime les états du système et le couple conducteur (LQR, commande LPV par retour d'état), soit en faisant abstraction d'estimateur de couple conducteur (commande $H_infty$ par retour de sortie dynamique). Ce dernier aspect présente l'avantage de nécessiter moins de mesures que le précédent. Ces approches ont été validées en simulation et mises en œuvre sur un véhicule prototype où des résultats prometteurs ont été obtenus
Nowadays, modern vehicles are equipped with more and more driving assistance systems, among them Electric Power Steering (EPS) helps the driver to turn the wheels. Indeed, EPS provides through an electric motor, an additional torque according to the driver's behaviour and the vehicle's dynamics to reduce the amount of effort required to the driver. Therefore, a torque control is developed based on the torque sensor signal which measures in practice the torsion bar torque (corresponding to an image of the driver torque). Consequently, this component is essential to the functioning of EPS systems.Indeed, a torque sensor failure usually leads to shut-off the assistance which may increase the risk of accident. Regarding functional safety, a back-up mode is recommended and required by more and more car manufacturers. On the other hand, a major challenge for automotive suppliers is to reduce cost production in order to meet growing markets demands and manage in the competitive sector. This issue considering a reduction of sensors' numbers and analysis of vehicle's dynamics is therefore an extension of applying the safety strategy. This thesis, carried out within JTEKT Europe, addresses these various issues.After introducing an overview of the different EPS systems, some models used for the design of controllers and estimators are presented. Then, two methods to estimate the driver torque subject to road disturbances and noise measurements are proposed: the first is a proportional integral observer (PI) with mixed synthesis $H_infty / H_2 $, whereas the second is an $ H_infty $ filtering approach. Then, several control strategies are proposed according to two different cases, either by using a PI observer which estimates the system states and the driver torque (LQR, LPV feedback control) or by not taking into account the driver torque estimation ($ H_infty $dynamic output feedback control). This latter approach has the advantage to require less measurements than the previous one. These approaches have been validated in simulation and implemented on a prototype vehicle where promising results have been obtained

In order for leading industrial companies to remain competitive, the process of product developement constantly needs to improve. In order to shorten development time -- that is the time from idea to product -- simulations of products in-house is becoming a popular method. This method saves money and time since expensive prototypes become unnecessary. Today the calibration of steering gears is done in test vehicles by experienced test drivers. This is a time consuming process that is very costly because of expensive test vehicles. This report investigates possibilities and difficulties with transfering the calibrations from field to rig. A steering rig has been integrated with a car simulation program. Comparisons between simulation in the loop (SIL) and hardware in the loop (HIL) have been made and differences between different configurations of steering gears have been evaluated. An automatic process including calibration of parameters, testing and analysis of the test results has been implemented. The work laid the foundation of calibration of steering parameters and showed correlation between calibration parameters and objective metrics.

Thesis: S.M. in Engineering and Management, Massachusetts Institute of Technology, Engineering Systems Division, 2015.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 101-103).
The automotive industry is constantly challenged with meeting and exceeding customer expectations while reducing time to market of new products in order to remain competitive. Providing new features and functionality into vehicles for customer satisfaction is becoming more challenging and driving design complexity to a higher level. Although traditional methods of Product Development Failure Mode identification such as FMEA (Failure Mode and Effect Analysis) or FTA (Fault Three Analysis) have been used to analyze failures in automotive systems, there are limitations when it comes to design errors, flawed requirements, human factors implications, and component interaction accidents in which all components operated as required but the system behavior was not as expected. In order to determine if there is room for improvement in current automotive product development process, this thesis applies Dr. Nancy Leveson's Systems-Theoretic Process Analysis (STPA) technique to compare and contrast with a Failure Modes and Effects Analysis (FMEA) approach as used in the automotive industry through a case study. A formal method of comparing results is proposed. This study found limitations with FMEA in terms of identifying unsafe interactions between systems, anticipating human error and other behaviors dependent on human interaction, identifying engineering design flaws, and producing requirements. STPA was able to find causes that had a direct relationship with those found in FMEA while also finding a portion of causes related to a higher level of abstraction of those in FMEA. STPA also found a subset of causes that FMEA was not able to find, which relate mainly to engineering design flaws and system interaction.
by Rodrigo Sotomayor Martínez.
S.M. in Engineering and Management

This article describes the Dana intelligent Twin Steering System designed for mobile vehicles with two steering axles (i.e. with four steering wheels). Current vehicles with four-wheel steering function are typically equipped with a hydraulic configuration where the two steering cylinders are connected in series. This type of connection highlights some limitations on available power, steering comfort and enabling advanced working functions. Dana evolved this type of hydraulic configuration introducing the possibility to disconnect the rear axle from the front one. In this way the rear axle, through the electronic control of its valve block, allows to improve the steering system performance and introduces advanced steering functions compared to the conventional steering systems.

CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
A sub-divisão de um veículo em módulos é muito útil quando se quer estudar o comportamento dinâmico de um determinado subsistema e sua influência nos demais componentes. Em alguns casos, devido ao tipo de tratamento empregado para descrever os elementos, não se consegue perceber de que modo as variáveis inerentes a um subsistema interagem com as demais, e, por conseguinte, os subsistemas entre si. A abordagem modular baseada no fluxo de potência permite uma melhor identificação das relações de causa e efeito entre subsistemas, uma vez que se pode definir, de forma clara e consistente, quem são as variáveis de entrada e de saída de cada componente ou módulo, e, conseqüentemente, seus acoplamentos. Neste tipo de tratamento, aplicado aos sistemas mecânicos, uma vez estabelecida a cinemática de um subsistema, podese obter as relações entre os esforços que seus componentes produzem uns sobre os outros, a partir da caracterização da potência transmitida através dos seus diversos elementos. Este trabalho apresenta um procedimento semi-analítico de equacionamento modular aplicado à modelagem e integração dos sistemas de suspensão e direção de veículos terrestres, no qual as variáveis de entrada e saída indicam o fluxo de potência entre os elementos de todo o sistema. Tal abordagem tem como base a técnica dos Grafos de Ligação, empregada em sistemas multidomínio em geral, e usa alguns conceitos da metodologia dos Transformadores Cinemáticos, normalmente aplicada aos sistemas multicorpos. A partir da definição da geometria dos mecanismos em questão, encontram-se as matrizes que representam os vínculos cinemáticos entre seus elementos, das quais o funcionamento dos sistemas integrados pode ser simulado e analisado, e informações necessárias aos seus projetos determinadas. As equações (malhas) algébricas que existem em mecanismos com estrutura cinemática fechada são analiticamente resolvidas, evitando deste modo modelos matemáticos com equações diferenciais e algébricas simultâneas. Das relações cinemáticas, o modelo dinâmico (matrizes de inércia, rigidez e amortecimento, etc) é obtido, e novamente informações essenciais à análise e síntese dos sistemas podem ser determinadas. O comportamento no tempo desses modelos pode ser encontrado por um método de integração de equações diferenciais qualquer. Adota-se o Simulink/MatLab® para representar o modelo assim desenvolvido em diagrama de blocos, e conseqüentemente simulá-lo. Através deste tratamento, cada bloco da implementaçao em Simulink/MatLab® contém o correspondente modelo analítico de um único módulo, cujo estabelecimento depende das características dinâmicas do sistema que se deseja analisar. A vantagem de adotar tal representação, baseada no fluxo de potência, consiste no fato de que um módulo pode ser substituído por outro, descritivo de um elemento ou subsistema com a mesma função, porém com configuração física distinta, e, conseqüentemente, modelo matemático específico, sem qualquer alteração nos demais componentes do sistema. Este procedimento está sendo adotado para modelagem dos diversos sistemas veiculares, como os de suspensão, direção, transmissão e freios, e também os pneus, inseridos em um chassi, incluindo os graus de liberdade desejados do veículo, todos descritos de forma modular semi- analítica através da mesma abordagem, empregando a técnica de modelagem mais apropriada para representá-los.
The sub-division of a vehicle in modules is very useful when we want to study the dynamical behavior of a certain sub-system and its influence in other components. In some cases, due to the type of treatment employed to describe the dynamic behavior of the elements, we don`t get to notice the way that inherent variables in a sub-system interacts with the others, and, consequently, the subsystems amongst themselves. The modular approach based on the power flow allows a better identification of the causal relationships among sub-systems, once it can define, in clear and consistent way, what are the input and output variables of each component or module, and, consequently, their couplings. In this type of treatment applied to the mechanical systems, once established the kinematics of a sub-system, it can be obtained the relationships among the efforts that their components produce on the other ones, from the characterization of the power transmitted through their several elements. This paper presents a semi-analytical procedure of modular modeling applied to the suspension and steering systems of a ground vehicle, in which the input and output variables indicate the power flow among the elements of the whole system. Such approach has as base the Bond Graphs technique, used in multidomain systems in general, and uses some concepts of the Kinematic Transformers methodology, usually applied to the multibody systems. From the mechanisms geometry, the matrices that represent the kinematics links between its elements are found, the operation of the integrated systems can be simulated and analyzed, and information about its design can be obtained. The algebraic loops (equations) inherent to mechanisms with closed kinematic structure are solved analytically, and there is not a mathematical model with simultaneous algebraic and differential equations. From the kinematic relations, the dynamic model (inertial, stiffness and damping matrices) is obtained, and again essential information to the systems analysis and synthesis can be determined. The models time behavior can be found by any differential equations integration method. The Simulink/Matlab is adopted to represent the model developed by block diagrams, and consequently to simulate it. Through this treatment, each block in the Simulink/Matlab implementation contains the correspondent analytical model of a single module, whose establishment depends on the dynamic characteristics of the system to be analyzed. The advantage of adopting such representation, based on the power flow, consists in the fact that a module can be substituted for other, descriptive of an element or sub-system with the same function, however with different physical configuration, and, consequently, specific mathematical model, without any alteration in the other components of the system. This procedure is being adopted for modeling all vehicular systems, like the suspension, steering, transmission and brakes systems, and also the tires, inserted in the chassis, including the desired degrees of freedom of the vehicle, all described in a semi- analytical modular way by the same approach, using the most appropriate modeling technique to represent them.

The electric grid is undergoing significant changes to meet challenges of improved load control and increased generation from renewables, as well as provision of new services. The main goal of this work is to study the impact of grid’s smartening on the electricity value chain. For this, we built a model to assess investments to come on the grid during the period 2010-2030, both on traditional equipments such as lines and substations and on smartening elements. According to the French example, yearly investments would double on average in the twenty years to come compared to 2010. In the three countries considered in this study, namely France, Italy and Sweden, most investments (between 61% and 76%) occur on the distribution area. Moreover, investments on traditional equipment stand for the lion’s share (68% to 80%) of the total, even if they are partly made possible by the smaller investments on smartening elements, which enable the network to be better controlled. The share of investments on smartening elements is 2.6 to 3.1 times higher on the distribution side than on the transmission side: this denotes the fact that the needed increase in control on the grid is larger on distribution than on transmission. Differences may exist between countries regarding forecasted investments and are mainly due to the number of customers, grid’s size and the chosen generation mix. The study ends with a discussion on the repartition of the value brought by forecasted investments between traditional stakeholders and players that may appear on markets driven by new business models.

Demands for including more functions such as haptic guiding in power steering systems in road vehicles have increased with requirements on new active safety and comfort systems. Active safety systems, which have been proven to have a positive effect on overall vehicle safety, refer to systems that give the driver assistance in more and less critical situations to avoid accidents. Active safety features are going to play an increasingly important roll in future safety strategies; therefore, it is essential that sub systems in road vehicles, such as power steering systems, are adjusted to meet new demands. The traditional Hydraulic Power Assisted Steering, HPAS, system, cannot meet these new demands, due to the control unit's pure hydro-mechanical solution. The Active Pinion concept presented in this thesis is a novel concept for controlling the steering wheel torque in future active safety and comfort applications. The concept, which can be seen as a modular add-on added to a traditional HPAS system, introduces an additional degree of freedom to the control unit. Different control modes used to meet the demands of new functionality applications are presented and tested in a hardware-in-the-loop test rig. This thesis also covers various aspects of hydraulic power assisted steering systems in road vehicles. Power steering is viewed as a dynamic system and is investigated with linear and non-linear modeling techniques. The valve design in terms of area gradient is essential for the function of the HPAS system; therefore, a method involving optimization has been developed to determine the valve characteristic. The method uses static measurements as a base for calculation and optimization; the results are used in both linear and the non-linear models. With the help of the linear model, relevant transfer functions and the underlying control structure of the power steering system have been derived and analyzed. The non-linear model has been used in concept validation of the Active Pinion. Apart from concept validation and controller design of the active pinion, the models have been roven effective to explain dynamic phenomena related to HPAS systems, such as the chattering phenomena and hydraulic lag.
The printed version and the electronic version differ in that the electronic version contains two built in video films (see page 78 and page 89).

Vehicle Dynamics Control (VDC) systems (also known as Active Chassis systems) are mechatronic systems developed for improving vehicle comfort, handling and/or stability. Traditionally, most of these systems have been individually developed and manufactured by various suppliers and utilised by automotive manufacturers. These decentralised control systems usually improve one aspect of vehicle performance and in some cases even worsen some other features of the vehicle. Although the benefit of the stand-alone VDC systems has been proven, however, by increasing the number of the active systems in vehicles, the importance of controlling them in a coordinated and integrated manner to reduce the system complexity, eliminate the possible conflicts as well as expand the system operational envelope, has become predominant. The subject of Integrated Vehicle Dynamics Control (IVDC) for improving the overall vehicle performance in the existence of several VDC active systems has recently become the topic of many research and development activities in both academia and industries Several approaches have been proposed for integration of vehicle control systems, which range from the simple and obvious solution of networking the sensors, actuators and processors signals through different protocols like CAN or FlexRay, to some sort of complicated multi-layered, multi-variable control architectures. In fact, development of an integrated control system is a challenging multidisciplinary task and should be able to reduce the complexity, increase the flexibility and improve the overall performance of the vehicle. The aim of this thesis is to develop a low-cost control scheme for integration of Electric Power-Assisted Steering (EPAS) system with Enhanced Stability Program (ESP) system to improve driver comfort as well as vehicle safety. In this dissertation, a systematic approach toward a modular, flexible and reconfigurable control architecture for integrated vehicle dynamics control systems is proposed which can be implemented in real time environment with low computational cost. The proposed control architecture, so named “Integrated Vehicle Control System (IVCS)”, is customised for integration of EPAS and ESP control systems. IVCS architecture consists of three cascade control loops, including high-level vehicle control, low-level (steering torque and brake slip) control and smart actuator (EPAS and EHB) control systems. The controllers are designed based on Youla parameterisation (closed-loop shaping) method. A fast, adaptive and reconfigurable control allocation scheme is proposed to coordinate the control of EPAS and ESP systems. An integrated ESP & ESP HiL/RCP system including the real EPAS and Electro Hydraulic Brake (EHB) smart actuators integrated with a virtual vehicle model (using CarMaker/HiL®) with driver in the loop capability is designed and utilised as a rapid control development platform to verify and validate the developed control systems in real time environment. Integrated Vehicle Dynamic Control is one of the most promising and challenging research and development topics. A general architecture and control logic of the IVDC system based on a modular and reconfigurable control allocation scheme for redundant systems is presented in this research. The proposed fault tolerant configuration is applicable for not only integrated control of EPAS and ESP system but also for integration of other types of the vehicle active systems which could be the subject of future works.

In this thesis, recently developed Blended Inverse (B-inverse) steering law is applied to two different redundant actuator systems. First, repeatability of Binverse is demonstrated on a redundant robotic manipulator. Its singularity avoidance and singularity transition performance is also demonstrated on the same actuator system. It is shown that B-inverse steering law provides singularity avoidance, singularity transition and repeatability. Second, its effectiveness is demonstrated for an Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG) cluster, which can perform energy management and attitude control functions simultaneously. For this purpose, an IPAC-CMG flywheel is conceptually designed. A control policy is developed for the energy management.

This thesis examines the interrelation of the government of Afghanistan's quality and communication against a theoretical framework that draws on Bertrand Russell's (1961) Authority and the Individual and Niklas Luhmann's (1990) The Political Theory in the Welfare State. Theories of governance, communication, and participatory democracy are investigated to explore the role of media, people's political participation, citizenry, and civic activism, in good governance. The objective of this thesis is to investigate how communication influences good governance. A qualitative research design is employed, utilizing content analysis of government and non-government documents and in-depth interviews with national and international field experts. The thesis finds that effective communication can enhance the degree of responsiveness, accountability, and transparency in Afghanistan's governance system. It is argued here that effective communication between the government, external players, and the people, can improve governance quality. This thesis provides a formulation of the communication activities of the government of Afghanistan, the Afghani people, and the international community that can playa critical role in changing Afghanistan's current status as a failed state.

To keep up with technological as well as logistical challenges of the modern automobile market, major car manufacturing firms have resorted to virtual simulation tools. This enables the development as well as validation of vehicular models much before resources are invested into a new physical prototype.This project focuses on the development of a tool that would help in optimising the handling parameters of a vehicle. This is achieved by creating an optimization routine for tuning the various parameters of the Electronic Power Steering (EPAS). This process is usually done manually, by on-track testing, due to the difficulties in correlating Subjective Assessments (SA) with Objective Metrics (OM). Automating this process would help to reduce the overall research and development time, by providing a baseline tune for the EPAS parameters which could then be finely tweaked by manual track testing.The tool is built by interfacing various software in a multi-objective optimisation environment known as ModeFrontier. The modelling and simulations are performed in IPG CarMaker, with the post processing of the results taken care of by Sympathy for Data. Multiple optimization algorithms were tested to achieve the best optimisation routine. The EPAS parameters, namely the Basic Steering Torque, Active Return and Active Damping, act as the input to the optimization routine. The outputs of the model are the Objective Metrics, which provide a clear indication of the dynamic performance of a component. These metrics are optimized to _t the Steering DNA structure, which uniquely describes the attributes of a vehicle. The final optimised vehicle is manually tested at the track, to determine the real driving feel.
För att upprätthålla ett positivt momentum i såväl tekniska som logistiska utmaningar på dagens bilmarknad har stora biltillverkare börjat använda sig av virtuella simuleringsverktyg. Dessa verktyg möjliggör utveckling av diverse fordonsmodeller långt innan resurser investeras i en fysisk prototyp. Detta projekt fokuserar på utvecklingen av ett verktyg som potentiellt kan hjälpa att optimera dynamiska beteendeparametrar för ett fordon. Detta uppnås genom att skapa en optimeringsrutin för att ställa in de olika parametrarna för den elektroniska servostyrningen (EPAS). Denna process görs vanligtvis manuellt, genom test på provbana, på grund avsvårigheterna att korrelera subjektiva bedömningar (SA) med objektiva mätetal (OM). Att automatisera denna process kan bidra till att minska den övergripande forsknings- och utvecklingstiden genom att tillhandahålla en baslinje för EPAS-parametrarna som i efterhand kan finjusteras genom manuell justering på provbana. Verktyget är byggt genom att ansluta olika program i en optimeringsmiljö som kallas ModeFrontier. Modellering och simuleringar utförs i IPG CarMaker, med efterbehandling av resultaten i Sympathy for Data. Flera optimeringsalgoritmer testades för att uppnå bästa optimeringsrutinen. EPAS-parametrarna består av det grundläggande styrmomentet, aktiv retur och aktiv dämpning, och fungerar som invärden till optimeringsrutinen där utvärdera från modellen är objektiva mätetalen, vilket ger en tydlig indikation på den dynamiska prestandan hos en komponent. Dessa mätvärden optimeras för att passa Steering DNA-strukturen, som unikt beskriver egenskaperna hos ett fordon. Det slutliga optimerade fordonet testas manuellt på provbana för att bestämma den verkliga körkänslan.

Avaliar a forma como interagem o chamado poder diretivo do empregador e a liberdade de expressão do empregado é o desafio que se empreende neste trabalho. Em certa medida, a eleição do tema já revela a adesão deste mestrando à corrente doutrinária que concebe existência de direitos fundamentais trabalhistas, específicos e inespecíficos, no âmbito e no universo das relações de trabalho, no caso do presente estudo, na relação de emprego. Para atingir o escopo proposto quando da escolha do tema, optamos pelo desenvolvimento de um trabalho em 6 capítulos, com análises e estudos, alguns de menor extensão, dado o caráter de coadjuvância com o tema principal, outros de maior extensão, dada a centralidade com a tarefa abraçada. Iniciamos nosso estudo com breves considerações históricas acerca do fenômeno do poder, cuidando do enquadramento conceitual e com abordagem de sua evolução a partir da antiguidade até o sistema capitalista, berço do direito do trabalho (1º Capítulo). Superada a abordagem do poder, genericamente considerado, debruçamos nossa atenção para a análise do poder diretivo de modo mais particular. E aqui tratamos das questões do conceito, fundamento legal e doutrinário, formas de expressão e limitações incidentes (2º Capítulo). O trabalho prossegue e com o propósito de estabelecer uma conexão com o trecho anterior do estudo, dirigimos a análise para a verificação dos direitos e deveres de empregado e empregador para que assim se evidencie potencialidades e limites tanto do poder diretivo do empregador, quanto dos direitos fundamentais do empregado, dentre os quais a liberdade de expressão (3º Capítulo). A sequencia do trabalho contém os esforços para o correto posicionamento da liberdade de expressão dentro do universo dos direitos humanos ou do homem, direitos fundamentais e direitos da personalidade. E com o intuito de melhor posicionar a liberdade de expressão, fazemos uma avaliação dentro do contexto do direito nacional e internacional, bem como abordamos, ainda que com pouca profundidade, a questão das gerações ou dimensões dos direitos fundamentais (4º Capítulo). O trato da liberdade de expressão tematiza o penúltimo capitulo e nele envidamos esforços para localizar em que esfera da existência do trabalhador subordinado, íntima, privada ou pessoal, ou no âmbito de todas estas, está a liberdade de expressão. Neste mesmo capítulo, devotamos nossa análise para a questão do plano de eficácia do direito fundamental à liberdade de expressão inclusive com o debate com a abordagem das formas, objeções, limites da liberdade de expressão e sobretudo com uma análise do direito em debate no contexto da relação de emprego, inclusive no que toca ao chamado direito de crítica. Encerramos esse capitulo com considerações acerca de medidas de proteção em caso de dispensa discriminatória. Na conclusão registramos nossas ponderações.
Assess how named steering power of the employer interacts and the employee\'s freedom of expression is the challenge that this work is undertaken. To some extent, the election theme already reveals the accession of the current Master\'s doctrinal conceives existence of fundamental labor, specific and nonspecific, and within the universe of labor relations in the case of this study, the employment relationship. To achieve the proposed scope when choosing the theme, we opted for the development of a work in 6 chapters, with analyzes and studies, some less extensive, given the character of co-acting with the main subject, other larger extent, given the centrality and embraced the task. We begin our study with brief historical considerations about the phenomenon of power, taking care of the conceptual framework and approach of its evolution from antiquity to the capitalist system, the cradle of labor law (Chapter 1). Approach to overcome the power, generally considered, worked through our attention to the analysis of power steering more particular. And here we treat the issues of concept, doctrinal and legal basis, forms of expression and limitations incidents (Chapter 2). The work continues in order to establish a connection with the earliest part of the study, headed analysis to verify the rights and duties of employee and employer so that if evidence of both potential and limits of the directive power of the employer, as rights key employee, among which the freedom of expression (Chapter 3). The sequence of this work includes efforts to the correct positioning of freedom of expression within the universe of human rights or of man, fundamental rights and personality rights. And in order to better position the freedom of speech, we make an assessment within the context of national and international law, as well as approach, albeit with little depth, the issue of generational dimensions or fundamental rights (Chapter 4). The tract of freedom of expression lead the penultimate chapter and we strive to find it in that sphere of existence of subordinate worker, intimate, private or personal, or under all these, is the freedom of expression. In this same chapter, we devote our analysis to the question of plan effectiveness of the fundamental right to freedom of expression and ended the debate with the approach of the ways, objections, limits of freedom of expression and especially the analysis of law in the context of the debate employment relationship, including with regard to the so-called right of criticism. In conclusion we recorded our weightings.

Остроух, В. О. Проект легкового автомобіля Opel з розрахунком зчеплення та рульового керування/комплексний проект/ : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / В. О. Остроух ; керівник роботи О. О. Литвин ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 70 с.
Проведено аналітичний огляд кількох легкових автомобілів зі схожими параметрами та компонувальною схемою. Проведено визначення масових показників та параметрів автомобіля та його двигуна. Проведено розрахунок зовнішньої швидкісної характеристики двигуна, силового балансу автомобіля та визначення параметрів трансмісії. Проведено розрахунок показників динамічності автомобіля при рівномірному та не рівномірному русі, метод силового балансу та динамічної характеристики. Проведено розрахунок паливної економічності автомобіля. Розглянули види рульового керування автомобілів, описали рульове керування автомобіля Opel Record E Caravan та виконали розрахунок елементів рульового керування. При виконанні кваліфікаційної роботи бакалавра розрахунки та креслення виконували в таких програмах, як: ―Компас‖ та ―Mathcad‖.
An analytical inspection of several cars with similar parameters and layout was conducted. The mass indicators and parameters of the car and its engine were determined. The calculation of the external speed characteristics of the engine, the power balance of the car and the definition of transmission parameters. The calculation of the dynamics of the car with uniform and non-uniform motion, the method of force balance and dynamic characteristics. The calculation of fuel efficiency of the car is carried out. The types of steering of the cars were considered, the steering of the Opel Record E Caravan was described and the steering elements were calculated. During the bachelor's qualification work, calculations and drawings were performed in such programs as "Compass" and "Mathcad".

The engine torque is an important control signal. This signal is disturbed by the devices mounted on the belt. To better be able to estimate the torque signal, this work aims to model the auxiliary devices'influence on the crankshaft torque. Physical models have been developed for the air conditioning compressor, the alternator and the power steering pump. If these models are to be used in control unit function development and testing, they have to be fast enough to run on a hardware-in-the-loop simulator in real time. The models have been simplified to meet these demands.

The compressor model has a good physical basis, but the validity of the control mechanism is uncertain. The alternator model has been tested against a real electronic control unit in a hardware-in-the-loop simulator, and tests show good results. Validation against measurements is however necessary to confirm the results. The power steering pump model also has a good physical basis, but it is argued that a simple model relating the macro input-output power could be more valuable for control unit function development.

Єрмоленко, Д. В. Проєкт легкового автомобіля Opel з розрахунком підвіски та розрахунком рульового керування /комплексний проєкт/ : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / Д. В. Єрмоленко ; керівник роботи О. О. Литвин ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 68 с.
Проведено аналітичний огляд кілької легкових автомобілів даного класу й модельного ряду. Проведено визначення масових показників та параметрів автомобіля та його двигуна. Проведено розрахунок зовнішньої швидкісної характеристики двигуна, силового балансу автомобіля та визначення параметрів трансмісії. Проведено розрахунок показників динамічності автомобіля при рівномірному та не рівномірному русі, метод силового балансу та динамічної характеристики. Проведено розрахунок паливної економічності автомобіля. Розглянули види рульового керування автомобілів, описали рулове керування автомобіля Opel Ascona та виконали розрахунок елементів рульового керування. При виконанні кваліфікаційної роботи бакалавра розрахунки та креслення виконували в таких програмах, як: “Компас” та “Mathcad”.
n analytical review of several cars of this class and model range was conducted. The mass indicators and parameters of the car and its engine were determined. The calculation of the external speed characteristics of the engine, the power balance of the car and the definition of transmission parameters. The calculation of the dynamics of the car with uniform and non-uniform motion, the method of force balance and dynamic characteristics. The calculation of fuel efficiency of the car is carried out. We considered the types of steering of cars, described the steering of the car Opel Ascona and performed the calculation of the steering elements. During the bachelor's qualification work, calculations and drawings were performed in such programs as "Compass" and "Mathcad".

Ce travail de thèse a été effectué au sein du Laboratoire GIPSA-Lab de Grenoble, sous la direction de Carlos Canudas de Wit et co-encadré par Franck Quaine et Violaine Cahouët.Ce travail a été réalisé dans le cadre du projet ANR-09-VTT-14-01/06 " VOLHAND ". Il s'inscrit dans le contexte général des nouvelles générations de Direction Assistée Electrique (DAE, ou EPAS en anglais pour Electronic Power Assistance Steering) avec pour objectif spécifique de tenir compte des caractéristiques des conducteurs à mobilité réduite. En effet, à ce jour, il n'existe pas de système de direction assistée adapté aux capacités articulaires (rhumatismes divers), musculaires (diminution de force, sénescence), ou encore aux douleurs ressenties par le conducteur. Le principal objectif de cette thèse est donc de proposer une méthodologie générale permettant d'adapter une DAE standard aux conducteurs à mobilité réduite. Le mémoire est organisé en cinq chapitres.Chapitre 1, intitulé Context and objectives of the study presente l'impact économique et sociétal, la problématique et l'objectif. Ensuite, la stratégie permettant d'atteindre l'objectif ainsi spécifié est précisée.Chapitre 2, intitulé Models for simulation, est dédié à l'établissement d'un modèle mathématique du système de DAEs prenant bien en compte l'élasticité en torsion de la colonne de direction due à la présence d'un capteur de couple. Parmi les entrées de ce modèle à deux degrés de liberté, une attention est faite en ce qui concerne la description du couple de frottement du contact pneumatique-route. Un modèle de frottement dynamique, basé sur le modèle de LuGre, est développé pour décrire ces phénomènes. Une amélioration du modèle est ainsi proposée.Chapitre 3, intitulé Oscillation annealing and torque observer design, commence par mettre en évidence les conséquences de la présence du mode souple associé à l'élasticité en torsion du capteur de couple sur le ressenti au niveau du volant. Une commande LQ est proposée pour limiter les oscillations dues à ce mode souple. Enfin, un observateur pour estimer le couple conducteur et le couple résultant du frottement pneumatique route est développé.Chapitre 4, intitulé Power steering booster stage, se focalise dans un premier temps sur la nature des courbes d'assistance utilisées dans le cadre des DAE. En effet, l'état de l'art sur le sujet met en évidence l'absence de justification de la forme de ces courbes généralement fonction de la vitesse du véhicule et du couple appliqué par le conducteur. Dans ce chapitre on propose de calculer de nouvelles lois en se fondant sur l'approche par optimisation (minimisation du jerk couplé avec la loi de puissance de Steven). Les résultats obtenus montrent que la minimisation du critère fondé sur le jerk du volant et la loi de puissance de Steven peut permettre de reproduire les lois existantes d'assistance et leur apportent une justification. Ils confirment également la forte influence du frottement (couple) au niveau du contact roue-sol. La seconde partie de ce chapitre est consacrée au développement d'une méthodologie générale d'adaptation des lois d'assistance (cartographie standard initiale) aux exigences du conducteur à mobilité réduite (typiquement ici une personne présentant une asymétrie.Chapitre 5, intitulé Experimental validation NeCS-Car benchmark, commence par détailler la plateforme expérimentale présente au laboratoire GIPSA-LAB et utilisée pour évaluer et valider les nouvelles lois d'assistance adaptées au conducteur à mobilité réduite. La stratégie globale d'assistance de couple au volant pour un conducteur présentant une asymétrie, est testée sur le banc avec la NeCS-Car. Les résultats issus du protocole montrent la validité de la stratégie proposée.Ce mémoire se termine avec une partie General conclusions and perspectives où les principales contributions sont d'abord rappelées, puis où des perspectives pour compléter et prolonger ce travail sont proposées.

The demand for optical power splitters is growing globally, due to the rapid deployment of fibre-to-the-premises, optical metropolitan area network (MAN), and active optical cables for TV/Video signal transport. Optical splitters play an important role in passive optical network (PON) technology by enabling several hundred users to share one optical line terminal. However, current PONs, which use fixed optical power splitters, have limited reconfigurability particularly in adding/dropping users to/from an optical network unit. An adaptive optical power splitter (OPS) can dynamically reallocate the opticalpower in the entire network according to the real-time distribution of users and services, thus providing numerous advantages such as improve an optical network efficiency, scalability, and reliability. An adaptive OPS is also important for realizing self-healing ring-to-ring optical MAN, thus offering automatic communication recovery when line break occurs. In addition, future optical line protection systems will require adaptive optical splitters to switch optical signals from faulty lines to active power lines, avoid the use of optical attenuators and/or amplifiers, and achieve real time line monitoring. An adaptive OPS can also be incorporated in tunable optical dispersion compensators, optical attenuator and optical gain equalizer, and reconfigurable optical switches. This thesis proposes and demonstrates the principle of a novel Opto-VLSI-based adaptive optical splitter/combiner for next generation dynamic optical telecommunication networks. The proposed splitter structure enables an input optical power to be split adaptively into a larger number of output fibre ports, through optimized phase holograms driving the Opto-VLSI processor. The new adaptive optical splitter has additional advantages including lossless operation, adequate inter-port crosstalk, compressed hardware and simple user interface. This thesis demonstrates, in particular, the concept of an adaptive optical power splitter employing an Opto-VLSI processor and a 4-f imaging system experimentally in three stages as follow: (i) a 1×2 adaptive optical power splitter based on an Opto-VLSI processor, a fibre collimator array and 4-f imaging systems (single lens), (ii) a 1×4 adaptive optical power splitter based on an Opto-VLSI processor, a fibre array and 4-f imaging systems (single lens), and (iii) a 1×N lossless adaptive optical power splitter structure integrating an Opto-VLSI processor, optical amplifiers, a fibre array, and an array of 4-f imaging systems (lens array). The thesis also demonstrates the concept of an adaptive optical signal combiner which enables multiple signals to be combined with user-defined weight profiles into a single fibre port. Experimental results demonstrate that an input optical signal can arbitrarily be split into N signals and coupled into optical fibre ports by uploading optimized multicasting phase holograms onto the Opto-VLSI processor. They also demonstrate that N input optical signals can be dynamically combined with arbitrary weights into a single optical fibre port. Excellent agreement between theoretical and experimental results is demonstrated. The total insertion loss of the optical power splitter is only 5 dB. Results also show that the optical amplifiers can compensate for the insertion and splitting losses, thus enabling lossless splitter operation. A crosstalk level around -25 dB and a wavelength spectral range exceeding 40 nm is experimentally realized. In addition, a novel broadband adaptive RF power splitter/combiner based on Opto-VLSI processor is proposed and experimentally demonstrated. By uploading optimized multicasting phase holograms onto the software-driven Opto-VLSI processor, the input RF signal is dynamically split and directed to different output ports, with userdefined splitting ratios. Also, multiple input RF signals can be dynamically combined with arbitrary user-defined weights. As a proof-of-concept demonstration, two input RF signals are dynamically combined with different user-defined weight profiles. We also propose and demonstrate a photonic microwave filter based on the use of an Opto-VLSI-based adaptive optical combiner. The experimental results demonstrate that the developed Opto-VLSI-based adaptive optical combiner can dynamically route multiple input optical signals to a single output, with user-defined weight profiles, thus realising a tunable microwave filter. Overall this Opto-VLSI-based adaptive optical power splitter should allow as many as 32 output ports to be supported while achieving high splitting resolution and dynamic range. This will greatly enhance the efficiency of optical communication networks.

Made available in DSpace on 2016-04-26T20:20:30Z (GMT). No. of bitstreams: 1 Paulo Celso Sanvito.pdf: 916969 bytes, checksum: d57317de2425e73926673401b45206b5 (MD5) Previous issue date: 2011-10-18
This paper addresses the fundamental rights, social and personality, and his performance in private relationships, with greater focus on employment, in order to verify the possibility of its impact on labor relations, overcoming a labor law purely economic and financial order the prevalence of human dignity, right through fundamental rights. Through a dialectical approach, analyzing by means of reasoning such as inductive, deductive and analogical fundamental rights, legal and historical aspects, this study seeks to demonstrate the resilience of the classical model of labor law, due to the changes that have occurred contemporary society due to globalization, against the imposition and effectiveness of fundamental rights to private, to enable its effectiveness in work relationships, including as a way to limit the directive power of the employer, demonstrating their fundamental rights, both individual and social, by workers
Esse trabalho aborda os direitos fundamentais, sociais e da personalidade, e sua atuação nas relações privadas, com maior enfoque nas laborais, com o intuito de verificar a possibilidade de sua incidência nas relações trabalhistas, superando um direito do trabalho exclusivamente econômico-financeiro, visando a prevalência da dignidade da pessoa humana, exatamente através dos direitos fundamentais. Através de uma abordagem dialética, analisando por meio de raciocínios, como o indutivo, dedutivo e o analógico os direitos fundamentais, seus aspectos legais e históricos, este estudo procura demonstrar a superação do modelo clássico de direito do trabalho, devido às transformações por que passa a sociedade contemporânea decorrentes da globalização para, ante à imposição e eficácia dos direitos fundamentais aos privados, possibilitar sua efetivação nas relações de trabalho, inclusive como forma de limite ao poder diretivo do empregador, demonstrando a titularidade dos direitos fundamentais, tanto individuais quanto sociais, pelos trabalhadores

Казанник, В. О. Проєкт легкового автомобіля Ford з розрахунком коробки переміни передач та розрахунком рульового керування /комплексний проєкт/ : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / В. О. Казанник ; керівник роботи О. О. Литвин ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 71 с.
Проведено аналітичний огляд легкових автомобілів певного класу й модельного ряду автомобілів. Проведено визначення масових показників та параметрів автомобіля та його двигуна. Проведено розрахунок зовнішньої швидкісної характеристики двигуна, силового балансу автомобіля та визначення параметрів трансмісії. Проведено розрахунок показників динамічності автомобіля при рівномірному та не рівномірному русі, метод силового балансу та динамічної характеристики. Проведено розрахунок паливної економічності автомобіля. Розглянули види рульових керувань автомобіля, виконали розрахунок рульового керування. При виконанні кваліфікаційної роботи бакалавра розрахунки та креслення виконували в таких програмах, як: ―Компас‖ та ―Mathcad‖.
An analytical review of cars of a certain class and model range of cars was conducted. The determination of mass indicators and parameters of the car and its engine is carried out. The calculation of the external speed characteristics of the engine, the power balance of the car and the definition of transmission parameters. The calculation of the dynamics of the car with uniform and non-uniform motion, the method of force balance and dynamic characteristics. The calculation of fuel efficiency of the car is carried out. Considered the types of steering of the car, performed the calculation of steering. During the bachelor's qualification work, calculations and drawings were performed in such programs as "Compass" and "Mathcad".

Скрипай, О. О. Проєкт легкового автомобіля Ford з розрахунком рульового керування та механізму зчеплення /комплексний проєкт/ : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / О. О. Скрипай ; керівник роботи О. О. Литвин ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 72 с.
Проведено аналітичний огляд легкових автомобілів в кількості трьох штук, схожих за параметрами між собою. Проведено визначення масових показників та параметрів автомобіля, його двигуна. Проведено розрахунок зовнішньої швидкісної характеристики двигуна, силового балансу автомобіля та визначення параметрів трансмісії. Проведено розрахунок показників динамічності автомобіля при рівномірному та не рівномірному русі, метод силового балансу та динамічної характеристики. Проведено розрахунок паливної економічності автомобіля. Розглянули види рульових керувань автомобіля, виконали розрахунок рульового керування. При виконанні кваліфікаційної роботи бакалавра розрахунки та креслення виконували в таких програмах, як: “Компас” та “Mathcad”.
An analytical inspection of passenger cars in the amount of three pieces, similar in parameters. The definition of mass indicators and parameters of the car, its engine is carried out. The calculation of the external speed characteristics of the engine, the power balance of the car and the definition of transmission parameters. The calculation of the dynamics of the car with uniform and non-uniform motion, the method of force balance and dynamic characteristics. The calculation of fuel efficiency of the car is carried out. Considered the types of steering of the car, performed the calculation of steering. During the bachelor's qualification work, calculations and drawings were performed in such programs as "Compass" and "Mathcad".

La commande du système de Direction Assistée Electrique (DAE) est un défi majeur en raison de ses multiples objectifs et de la nécessitée de réaliser plusieurs mesures pour la mettre en oeuvre. La commande doit assurer : le suivi du couple d’assistance de référence tout en assurant la stabilité du système et sans introduire des retards, l’atténuation des vibrations provoquées par chacune des entrées du système, la transmission des informations de la route au conducteur pour un bon confort et une meilleure sensation de conduite, l’amélioration de la performance de retour au centre. La commande doit également être robuste vis-à-vis des erreurs de modélisation, des incertitudes des paramètres, et des perturbations extérieures. En outre, la mise en oeuvre de la commande nécessite plusieurs mesures telles que : l’angle au volant, l’angle du moteur, la vitesse du moteur, le couple conducteur et le couple de réaction de la route
The control of Electric Power Assisted Steering (EPAS) system is a challengingproblem due to the multiple objectives and the need of several pieces of information to implement the control. The control objectives are to generate assist torque with fast responses to driver’s torque commands, insure system stability, attenuate vibrations, transmit the road information to the driver, and improve the steering wheel returnability and free control performance. The control must also be robust against modeling errors and parameter uncertainties. In addition, several pieces of information are required to implement the control, such as steering wheel angle, motor velocity, driver torque and road reaction torque

Данич, І. В. Проєкт легкового автомобіля Toyota Auris 2 з модернізацією рульового керування : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / І. В. Данич ; керівник роботи В. І. Вежега ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 68 с.
Проведено визначення масових показників та параметрів автомобіля, його двигуна. Проведено розрахунок зовнішньої швидкісної характеристики двигуна, силового балансу автомобіля та визначення параметрів трансмісії. Проведено розрахунок показників динамічності автомобіля при рівномірному та не рівномірному русі, метод силового балансу та динамічної характеристики. Проведено розрахунок паливної економічності автомобіля. Проведено розрахунок та модернізацію рульового керування. При виконанні кваліфікаційної роботи бакалавра розрахунки та креслення виконували в таких програмах, як: “Компас” та “Mathcad”.
The definition of mass indicators and parameters of the car, its engine is carried out. The calculation of the external speed characteristics of the engine, the power balance of the car and the definition of transmission parameters. The calculation of the dynamics of the car with uniform and non-uniform motion, the method of force balance and dynamic characteristics. The calculation of fuel efficiency of the car is carried out. The calculation and modernization of the steering are carried out. During the bachelor's qualification work, calculations and drawings were performed in such programs as "Compass" and "Mathcad".

A dissertação trata do estudo acerca dos direitos fundamentais do empregado, sob a ótica do direito fundamental à intimidade e à vida privada nas relações de emprego. Discute-se sobre a problemática gerada em torno do poder diretivo do empregador quando utiliza de métodos abusivos no controle da atividade laboral do empregado. Procura-se elucidar esses limites de controle, utilizando-se para tanto do direito comparado, da análise jurisprudencial e dos posicionamentos doutrinários. Em torno do tema proposto fala-se sobre o respeito e consideração ao princípio da dignidade da pessoa humana no trabalho, bem como da importância do princípio da proporcionalidade, sendo que neste último sugere-se sua possível aplicação nos casos em concreto, pelos intérpretes e aplicadores do direito na hipótese de haver colisão de direitos. Como parte exemplificativa do trabalho questiona-se a monitoração no âmbito das relações laborais e, aborda-se, também, a questão do teletrabalho.
Submitted by Marcelo Teixeira (mvteixeira@ucs.br) on 2014-05-30T16:22:29Z No. of bitstreams: 1 Dissertacao Fernando Valduga.pdf: 341942 bytes, checksum: f85ad115f5dd64bc151574ec54934bde (MD5)
Made available in DSpace on 2014-05-30T16:22:29Z (GMT). No. of bitstreams: 1 Dissertacao Fernando Valduga.pdf: 341942 bytes, checksum: f85ad115f5dd64bc151574ec54934bde (MD5)
The dissertation deals with the study about fundamental rights of the employee, from the perspective of the fundamental right to intimacy and privacy in employment relations. It discusses on the problems generated around the power steering when the employer uses abusive methods to control the employee´s work activity. It seeks to elucidate these control limits, using for both comparative law, jurisprudence and the analysis of doctrinal positions. Around the proposed theme speaks out about respect and consideration to the principle of human dignity at work and the importance of the principle of proportionality, while the latter suggest their possible application in concrete cases, the interpreters and law enforcers in case of collision of rights there. As part of examples of work questions the monitoring in industrial relations, and one addresses also the issue of teleworking.

Ковальчук, Є. С. Проект легкового автомобіля /комплексний проект/ з розрахунком рульового керування та розробкою технологічного процесу відновлення маточини переднього колеса : випускна кваліфікаційна робота : 274 «Автомобільний транспорт» / Є. С. Ковальчук ; керівник роботи Я. В. Кужельний ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 155 с.
При виконанні магістерської роботи, визначили масові показники й параметри автомобіля, провели розрахунок двигуна автомобіля, розрахували показники динамічності автомобіля, його гальмівні властивості та паливну економічність. У спеціальній частині магістерської роботи було проведено аналіз системи рулового керування та розрахунок елементів рулового керування. Розроблено технологічний процес відновлення маточини автомобіля, який включає в себе такі моменти як: характеристика деталі, вибір способів відновлення, розрахунок припусків, режимів обробки та розрахунок норм часу.
During the master's thesis, the mass indicators and parameters of the car were determined, the car engine was calculated, the car dynamics indicators, its braking properties and fuel economy were calculated. In the special part of the master's work the analysis of the steering system and the calculation of the steering elements were carried out. The technological process of car hub restoration has been developed, which includes such moments as: characteristic of the part, choice of restoration methods, calculation of allowances, processing modes and calculation of time norms. Such programs as: ”Paint”, “Compass 3D” and “Mathcad” were used to perform calculations and graphical part.

Millimeter-wave systems introduce a set of particular severe requirements from the antenna point of view in order to achieve specific performances. In this sense, high directive antennas are required to overcome the huge extra path loss. Moreover, each particular application introduces additional requirements. For example, in very high throughput (VHT) wireless personal area networks (WPANs) communication systems at 60 GHz band beam-steering antennas are needed to deal with high user random mobility and human-body shadowing characteristic of indoor environments. Similarly, beam-steering capabilities are also needed in automotive radar applications at 79 GHz, since the determination of the exact position of an object is essential for most of the functions realized by the radar sensor. In the same way, beam-scanning, which is still commonly mechanically performed nowadays, is also needed in passive imaging systems at 94 GHz. Finally, from the integration perspective, the antennas must be small, low-profile, light weight and low-cost, in order to be successfully integrated in a commercial millimeter-wave wireless system. For these reasons, many types of antenna structures have been considered to achieve high directivity and beam-steering capabilities for the aforementioned millimeter-wave communication, radar and imaging applications at 60, 79 and 94 GHz. The most part of the currently adopted solutions are based on the expensive, complex and bulky phased-array antena concept. Actually, phased-array antenna systems can scan the beam at a fast rate. However, they require a complex integration of many expensive, lossy and bulky circuits, such as solid-state phase shifters and beam-forming networks. This doctoral thesis has contributed to the study, development, and assessment of the performance of innovative antena solutions in order to improve the existing architectures at millimeter-wave frequencies, conveniently solving the problems related specifically to short-range high data rate communication systems at 60 GHz WPAN band (including future 5G millimeter-wave systems), automotive radar sensors at 79 GHz band, and communications, radar, and imaging systems at 94 GHz. The specific goals pursued in this work, focused on defining an alternative antenna architecture able to achieve a full reconfigurable 2-D beam-scanning of high gain radiation beams at millimeter-wave frequencies, has been fulfilled. In this sense, this thesis has been mainly devoted to study in depth and practically develop the fundamental part of an innovative switched-beam antenna array concept: novel inhomogeneous gradient-index dielectric flat lenses, which, despite their planar antenna profile configurations, allow full 2-D beam-scanning of high gain radiation beams. A transversal study, going from theoretical investigations, passing by numerical analysis, new fabrication strategies, performance evaluation, and to full experimental assessment of the new antenna architectures in real application environment has been successfully carried out.
Los sistemas a frecuencias de ondas milimétricas introducen una serie de requisitos muy estrictos desde el punto de vista de la antena con el objetivo de conseguir unos rendimientos específicos. En este sentido, se requieren antenas con una muy alta directividad con tal de conseguir superar las enormes pérdidas adicionales por propagación. Además, cada aplicación en concreto introduce unos requisitos adicionales. Por ejemplo, en redes de área personal de alta velocidad para sistemas de comunicación a la banda de 60 GHz, antenas con la capacidad de reconfiguración del haz de radiación son necesarias para poder tratar la problemática de la alta movilidad de los usuarios en entornos cerrados. De la misma forma, capacidades de reconfiguración de la orientación del haz de radiación son necesarias en aplicaciones relacionadas con radar de automoción a 79 GHz, dado que la determinación de la posición exacta de un objeto es esencial para muchas de las funciones del sensor de radar. De forma muy similar, la capacidad de apuntamiento del haz, que muchas veces todavía se realiza mediante sistemas mecánicos, es también imprescindible en sistemas de escaneo para aplicaciones biomédicas y de seguridad a 94 GHz. Finalmente, desde la perspectiva de la integración, las antenas deben ser eléctricamente pequeñas, ligeras, y económicas para poder ser incorporadas a un sistema inalámbrico comercial a frecuencias de onda milimétricas. Por todos estos motivos, diferentes tipos de estructuras de antenas han sido propuestos para conseguir alta directividad, junto con capacidades de reconfiguración y apuntamiento del haz de radiación para las aplicaciones anteriormente mencionadas y descritas en la banda de 60, 79, y 94 GHz. La solución tradicionalmente adoptada en este tipo de casos està estrictamente basada en el siempre caro, complejo y aparatoso concepto del phased-array. De hecho, los phased-arrays permiten el rápido escaneo de haces de radiación de alta directividad. Sin embargo, el hecho que requieran una compleja integración de muchos y caros componentes a alta frecuencia, tales como desfasadores de estado sólido o redes de conformación, los cuales introducen ciertos niveles de pérdidas, siendo además aparatosos, hacen que esta solución resulte inviable. La presente tesis doctoral contribuye al estudio, desarrollo, y ensayo experimental del rendimiento de soluciones de antenas innovadoras para la mejora de las existentes arquitecturas de antena en la banda frecuencial de las ondas milimétricas, convenientemente solucionando los problemas asociados específicamente a los sistemas de comunicación de corto alcance y alta velocidad a 60 GHz (incluyendo los futuros sistemas 5G a milimétricas), a los sistemas de radar de automoción a 79 GHz, y a los sistemas de comunicación, radar, y escaneo para aplicaciones a 94 GHz. Los objetivos específicos perseguidos en este trabajo académico, focalizados en definir una arquitectura alternativa de antena, capaz de conseguir una completa reconfiguración y escaneo de los haces de radiación en dos dimensiones del espacio a frecuencias de onda milimétricas, se han conseguido plenamente. En este sentido, esta tesis doctoral ha sido dedicada esencialmente al estudio en profundidad y desarrollo práctico de la parte fundamental del innovador concepto del switchedbeam array: nuevas lentes dieléctricas inhomogéneas de gradiente de índice con estructura plana, las cuales, a pesar de su configuración física totalmente llana, permiten una reconfiguración total, en dos dimensiones del espacio, de haces de radiación de alta directividad. Un estudio eminentemente transversal, que abarca desde la investigación teórica, pasando por el análisis numérico, nuevas metodologías y técnicas de fabricación, evaluación de rendimientos, hasta una completa caracterización y ensayo del rendimiento en entornos reales de aplicación de las nuevas arquitecturas de antena, se ha llevado a cabo con total éxito.
Els sistemes a freqüències d'ones mil·limètriques introdueixen una sèrie de requisits molt estrictes des del punt de vista de l'antena per tal d’aconseguir uns rendiments específics. En aquest sentit, es requereixen antenes amb una alta directivitat per aconseguir superar les enormes pèrdues addicionals per propagació. A més a més, cada aplicació en concret introdueix uns requeriments addicionals . Per exemple, en xarxes d'àrea personal d'alta velocitat per a sistemes de comunicació a la banda de 60 GHz, antenes amb la capacitat de reconfiguració del feix de radiació són necessàries per tal de poder tractar la problemàtica de l'alta mobilitat dels usuaris en entorns tancats . De la mateixa manera, capacitats de reconfiguració de l'orientació del feix de radiació són necessàries en aplicacions associades a radar d'automoció a 79 GHz, donat que la determinació de la posició exacta d'un objecte és essencial per moltes de les funcions portades a terme pels ens or del radar. De forma molt similar, la capacitat d'apuntament del feix, que moltes vegades encara es realitza per mitjà de sistemes mecànics, és també imprescindible en sistemes d'escaneig per aplicacions mèdiques i de seguretat a 94 GHz. Finalment, des de la perspectiva de la integració, les antenes han de ser petites en termes elèctrics, lleugeres, i econòmiques per tal de poder ser incorporades en un sistema sense fils comercial a freqüència d'ones mil·limètriques. Per aquestes raons , diversos tipus d'estructures d'antenes han sigut proposats per aconseguir alta directivitat, conjuntament amb la capacitat d'apuntament del feix de radiació per les aplicacions anteriorment descrites a les bandes de 60, 79, i 94 GHz. La solució tradicionalment adoptada en aquests casos és estrictament basada en el sempre car, complexe, i aparatós concepte del phased-array. De fet, els phased-arrays tenen la capacitat de reconfigurar a gran velocitat feixos de radiació d'alta directivitat. Tot i això, el fet que requereixin la complexa integració de molts components cars a alta freqüència, amb certs nivells de pèrdues i aparatosos, com són els desfasadors d'estat sòlid, i les xarxes de conformació, fan d'aquesta solució inviable. La present tesis doctoral contribueix a l'estudi, des envolupament, i assaig experimental del rendiment de solucions d'antenes innovadores per tal de millorar les existents arquitectures d'antena a la banda freqüencial de les ones mil·limètriques, convenientment solucionant els problemes associats específicament als sistemes de comunicació de rang proper d'alta velocitat a 60 GHz (incloent els futurs sistemes 5G a mil·limètriques ), als sistemes de radar d'automoció a la banda dels 79 GHz, i als sistemes de comunicació, radar, i escaneig per aplicacions a 94 GHz. Els objectius específics perseguits en aquest treball acadèmic, focalitzats en definir una arquitectura d'antena alternativa, capaç d'aconseguir una completa reconfiguració i escaneig dels feixos de radiació en dues dimensions de l'espaia freqüències d'ona mil·limètriques , s'han plenament aconseguit. En aquest sentit, aquesta tesis doctoral s'ha dedicat essencialment a l'estudi en profunditat i desenvolupament pràctic de la part fonamental de l'innovador concepte del switched-beam array: noves lents dielèctriques inhomogenees de gradient d'índex amb estructura planar, les quals, tot i preservar una configuració física totalment plana, permeten una reconfiguració total en dues dimensions de l'espai de feixos de radiació d'alta directivitat. Un estudi transversal, que comprèn des de la investigació teòrica, passant per l'anàlisi numèric, noves metodologies i tècniques de fabricació, avaluació de rendiments, fins a una completa caracterització i assaig del rendiment en entorns reals d'aplicació de les noves arquitectures d'antena s'ha dut a terme amb total èxit.

La ricerca prende avvio dalla ricostruzione dei processi socio-economici che hanno portato alla crisi del modo di produzione taylorista-fordista. Muovendo da tali riflessioni, si constata come le imprese “post-fordiste” si avvalgano in misura crescente di lavoratori autonomi, un tempo coordinati e continuativi e, oggi, a progetto (artt. 61 e ss., d.lgs. 276/2003). Tali collaboratori sono, dunque, soggetti ad un potere (contrattuale) di coordinamento del committente che, alle volte, si somma ad una condizione di dipendenza economica dal committente medesimo. Si crea, quindi, una differenziazione interna all'area dell'autonomia coordinata che non pare adeguatamente valorizzata dal legislatore ordinario, ma che sembra interessare i sindacati. Il dato reale vede, infatti, agire rappresentanze varie, sicché occorre circoscrivere l'ambito di applicabilità degli artt. 39 e 40 Cost. L'assenza di un genuino interesse collettivo e di un'effettiva attività di autotutela inducono a ritenere che i collaboratori “forti” e il relativo associazionismo possano beneficiare delle sole tutele poste dagli artt. 2, 18 e 41 Cost. A conclusione si affrontano le problematiche che la ricostruzione così svolta solleva, ovverosia come garantire l'effettività delle tutele riconosciute al sindacalismo dei collaboratori “deboli” e come contemperare l'associazionismo dei collaboratori “forti” con il diritto antitrust comunitario.
The search starts with the reconstruction of socio-economic processes. Moving from these reflections, it's possible to see that today's companies take advantage of increasingly self-employed coordinated and continuous and, after d.lgs. 276/2003 “lavoratori a progetto”. These employees are, therefore, subject to a power (contractual) coordination of the customer that, at times, it adds up to a state of economic dependence by the same. It then creates an internal differentiation into autonomy area that does not seem properly valued by the ordinary legislator, but that seems to involve trade unions. Given that in reality there are different representations, we move to circumscribe the scope of applicability of the Arts. 39 and 40 Const. The absence of a genuine interest and genuine self activities suggest that employees "strong" and its associations can only benefit from the protections posed by Arts. 2, 18 and 41 Const. At the end tackling the problems so that the reconstruction turn raises, namely how to ensure the effectiveness of the safeguards recognized unionism collaborators "weak" and reconcile the associations of employees "strong" with the antitrust law.

La ricerca prende avvio dalla ricostruzione dei processi socio-economici che hanno portato alla crisi del modo di produzione taylorista-fordista. Muovendo da tali riflessioni, si constata come le imprese “post-fordiste” si avvalgano in misura crescente di lavoratori autonomi, un tempo coordinati e continuativi e, oggi, a progetto (artt. 61 e ss., d.lgs. 276/2003). Tali collaboratori sono, dunque, soggetti ad un potere (contrattuale) di coordinamento del committente che, alle volte, si somma ad una condizione di dipendenza economica dal committente medesimo. Si crea, quindi, una differenziazione interna all'area dell'autonomia coordinata che non pare adeguatamente valorizzata dal legislatore ordinario, ma che sembra interessare i sindacati. Il dato reale vede, infatti, agire rappresentanze varie, sicché occorre circoscrivere l'ambito di applicabilità degli artt. 39 e 40 Cost. L'assenza di un genuino interesse collettivo e di un'effettiva attività di autotutela inducono a ritenere che i collaboratori “forti” e il relativo associazionismo possano beneficiare delle sole tutele poste dagli artt. 2, 18 e 41 Cost. A conclusione si affrontano le problematiche che la ricostruzione così svolta solleva, ovverosia come garantire l'effettività delle tutele riconosciute al sindacalismo dei collaboratori “deboli” e come contemperare l'associazionismo dei collaboratori “forti” con il diritto antitrust comunitario.
The search starts with the reconstruction of socio-economic processes. Moving from these reflections, it's possible to see that today's companies take advantage of increasingly self-employed coordinated and continuous and, after d.lgs. 276/2003 “lavoratori a progetto”. These employees are, therefore, subject to a power (contractual) coordination of the customer that, at times, it adds up to a state of economic dependence by the same. It then creates an internal differentiation into autonomy area that does not seem properly valued by the ordinary legislator, but that seems to involve trade unions. Given that in reality there are different representations, we move to circumscribe the scope of applicability of the Arts. 39 and 40 Const. The absence of a genuine interest and genuine self activities suggest that employees "strong" and its associations can only benefit from the protections posed by Arts. 2, 18 and 41 Const. At the end tackling the problems so that the reconstruction turn raises, namely how to ensure the effectiveness of the safeguards recognized unionism collaborators "weak" and reconcile the associations of employees "strong" with the antitrust law.

Каменецький, Д. А. Проєкт вантажного автомобіля з дослідженням технологічного процесу відновлення впускного клапана та відновлення вилки карданного вала/комплексний проєкт/ : випускна кваліфікаційна робота : 274 "Автомобільний транспорт" / Д. А. Каменецький ; керівник роботи В. В. Кальченко ; НУ "Чернігівська політехніка", кафедра автомобільного транспорту та галузевого машинобудування. – Чернігів, 2021. – 161 с.
При написанні кваліфікаційної роботи, розрахували масові показники й параметри вантажного автомобільного засобу, провели розрахунок двигуна та його теплових характеристик, розрахували передаточні числа коробки перемикання передач, визначили динаміку та навантаження на КШМ автомобіля, дізналися показники динамічності засобу. Дізнався про гальмівний шлях на максимальній швидкості та витрату полива на 100 км.. У спеціальній частині моєї кваліфікаційної роботи було розглянуто види керувань, й виконане модернізування русльової системи авто. Далі виконав відновлення вилки кардану, провів аналіз деталі, вибрав способ й методи для подальшого ремонту (відновлення), підібрав обладнання обладнання, розрахував припуски, вибрав режими обробки вилки кардану ГАЗ 2310 з подальшим розрахунком норм часу на кожну операцію з відновлення.
When writing the dissertation, calculated the mass parameters and parameters of the truck, calculated the engine and its thermal characteristics, calculated the gear ratios, determined the dynamics and load on the vehicle's HF, learned the dynamics of the vehicle. Learned about the braking distance at maximum speed and fuel consumption per 100 km .. In the special part of my qualification work the types of controls were considered, and the modernization of the car's steering system was performed. Then he restored the propeller fork, analyzed the part, chose the method and methods for further repair (restoration), selected the equipment, calculated the allowances, selected the modes of processing the propeller fork GAZ 2310 with subsequent calculation of time for each recovery operation.

The interest for Permanent Magnet (PM) synchronous machines has increased in the recent years. This is mainly due to important developments in the field of the electrical machine design, control systems and PM technology. These factors enable the possibility of designing electrical machines with a high torque density, power density, efficiency, low cost with wide degrees of freedom. Such requirements are highly sought in the automotive field, especially following the increasingly stringent energy efficiency and air pollution emissions policies. These conditions are pushing forward the transition from the conventional internal combustion engine mobility systems to the hybrid electric and full electric vehicles for the mass market production. Moreover, further requirements, especially in high demanding traction and auxiliary machines, such as Electric Power Steering (EPS) motors, are nowadays getting more and more important. Flux weakening performance, torque quality (cogging torque and torque ripple), demagnetization, acoustic performance and robustness of the designs has to be taken into account, together with stringent dimensional, electrical and thermal constraints typical for compact integrated automotive electrical drives. Due to recent sky-rocketing price, instability, critical availability of Rare Earth (RE) metals and the related environmental issue for their sourcing, Heavy (HR) RE free, RE-free and even PM free machines are hunted for in the automotive market. The novel PM motor topologies meet such a „market pull“. The main research subject of this PhD is the development of novel analysis and design procedures of PM synchronous machines for automotive applications. The latter range from low torque / power auxiliary systems, i.e. EPS machines, to high torque / high power applications, such as traction machines. It provides a comprehensive evaluation of various synchronous machine topologies. Particular attention is devoted to the study of HRE-free solutions and the development of Finite Element Analysis (FEA) and analytical procedures for the optimization of the motor designs. As mentioned above, these methodologies take into account several electromechanical constraints and various performance targets. As regards the traction machines, the investigation is focused to the permanent magnet assisted reluctance (PMASR) topology. The interest around the PMASR motors has grown in the last years especially as consequence of the price crisis of rare earth magnets. In fact these machines represent a potential low cost replacement of conventional PM machines due to several technical advantages, such as wide speed range, competitive torque density and efficiency, high overload capability and robust structure. On the other had, the most important drawback is represented by the high torque ripple. In the area of the electric power steering motors, several topologies, both with isotropic anisotropic rotor structures and equipped with fractional slot concentrated windings, are evaluated. Some novel motor designs, which employ the reluctance and flux concentration principle, are introduced, optimized by means of FEA procedures and experimentally validated in detail, including the acoustic and PM performance. Further considerations are derived on the robustness of the solutions against the manufacturing imperfections. Comparing to the isotropic topologies, these innovative motor configurations show higher torque density, extended speed range, optimal torque quality and acoustic performance, ensuring lower active cost and structural simplicity. Therefore, they represent attractive candidates for high performance automotive applications.
Negli ultimi anni l'interesse nel settore delle macchine sincrone a magneti permanenti ha riscontrato una notevole crescita. Questo e' stato determinato principalmente da importanti sviluppi nel campo della progettazione delle macchine elettriche, nei sistemi di controllo e nelle tecnologie dei magneti permanenti. Questi fattori hanno reso possibile la progettazione di macchine elettriche con elevata densita' di coppia, densita' di potenza, rendimento, basso costo unitamente ad ampi gradi di liberta' nella geometria e struttura della macchina. Tali requisiti sono fortemente ricercati nel campo automotive, soprattutto a seguito dell'introduzione di sempre piu' stringenti normative sull'efficienza energetica e sulle emissioni atmosferiche inquinanti. Questi aspetti hanno accelerato la transizione da sistemi di mobilita' tradizionali con motori a combustione interna a veicoli ibridi-elettrici e puramente elettrici, nella produzione industriale di massa. Inoltre, ulteriori requisiti, specialmente in macchine da trazione ed ausiliarie ad alte prestazioni, quali ad es. motori per servosterzo elettrico, stanno attualmente diventando sempre piu' importanti. Prestazioni in deflussaggio, qualita' della coppia (coppia di impuntamento ed oscillazione della coppia), smagnetizzazione, prestazioni acustiche e robustezza delle configurazioni devono essere tenute in conto, insieme a stringenti vincoli dimensionali, elettrici e termici tipici di azionamenti elettrici compatti ed integrati. A causa dell'incremento significativo ed instabilita' dei prezzi delle terre rare, della criticita' dei loro approvvigionamenti ed i relativi impatti ambientali, soluzioni prive di terre rare pesanti, senza terre rare od addirittura senza magneti permanenti, sono fortemente ricercate nel settore automotive. La principale tematica di ricerca di questo dottorato riguarda lo sviluppo di innovative procedure di analisi e sintesi di macchine sincrone a magneti permanenti per applicazioni automotive. Queste ultime spaziano da sistemi ausiliari a bassa coppia / bassa potenza, nella fattispecie motori per servosterzo elettrico, fino a applicazioni at alta coppia / alta potenza, quali ad es. motori da trazione. Questo lavoro fornisce una valutazione complessiva di differenti tipologie di macchine. Particolare attenzione e' dedicata allo studio di soluzioni con magneti permanenti privi di terre rare pesanti ed allo sviluppo di procedure di ottimizzazione ad elementi finiti ed analitiche della geometria del motore. Come menzionato precedentemente, tali metodologie tengono in considerazione numerosi vincoli elettromeccanici e differenti obiettivi. Per quanto riguarda le macchine da trazione, la ricerca si e' focalizzata sulla topologia di motori a riluttanza assistiti da magneti permanenti. L‘interesse attorno a tali macchine e' cresciuto negli ultimi anni soprattutto a seguito della crisi dei prezzi dei magneti permanenti a terre rare. Infatti, tali macchine rappresentano una soluzione alternativa a basso costo rispetto a motori a magneti permanenti tradizionali a causa di importanti vantaggi tecnici quali ad es. un ampio regime di velocita', competitivi valori di densita' di coppia ed efficienza, elevata capacita' di sovraccarico ed una robustezza della struttura. D'altra parte, uno dei principali svantaggi e' rappresentato dall'elevata oscillazione della coppia. Nel campo dei motori per servosterzo elettrico, differenti topologie, sia dotate di rotore isotropo che anisotropo ed equipaggiate con avvolgimenti concentrati, sono state valutate. Alcune nuove configurazioni, che sfruttano il principio della riluttanza e della concentrazione di flusso, sono introdotte, ottimizzate per mezzo di procedure ad elementi finiti ed infine validate per mezzo di misure sperimentali, includendo valutazioni delle prestazioni acustiche e quelle dei magneti permanenti. Ulteriori considerazioni sono tratte per quanto concerne la robustezza delle soluzioni nei confronti delle imperfezioni costruttive. Rispetto alle macchine isotrope, tali configurazioni sviluppano una densita' di coppia piu' alta, esibiscono un piu' ampio intervallo di velocita', maggiore rendimento raggiungendo un qualita' della coppia e prestazioni acustiche competitive ad un costo inferiore e con una buona semplicita' costruttiva. Esse si dimostrano, pertanto, dei candidati ottimali per applicazioni automotive ad alte prestazioni.

No
This paper presents a method of designing a full electrical power steering system to replace a hydraulic power-assisted steering system with improved performance and benefits including energy saving, improved steering 'feel', simpler construction and environmental gain. The designed performance of the electrical power steering system represented an ideal hydraulic power-assisted steering power boost curve which was mathematically modelled to provide the required control characteristic for the electrical power steering system, including variation in the perceived power assistance with the vehicle's forward speed. A full electrical power steering system provides all the torque necessary to steer the wheels, and the steering feel is artificially generated by an electric 'feedback' motor which provides resistance to the driver's input. The performance of the electrical power steering system described in this paper was enhanced by manipulating the reactive torque to the driver's input at the steering wheel so that it depended upon the driving conditions. Full-vehicle software models were generated using ADAMS/car software based on an actual car fitted with hydraulic power-assisted steering and full electrical power steering. The simulation results from both models were compared, and it is concluded that the steering performances of both systems were similar but the steering feel of the full electrical power steering system could be tuned to provide improved feedback to the driver in use. The performance of the full electrical power steering system could be further improved with the introduction of a controller to manipulate the steering feel during undesired conditions.

碩士
國立臺北科技大學
車輛工程系所
99
Nowadays electric power steering system and active front steering system are popular developed. By studying the purposes, characteristics, and mechanism types of these two steering systems, this paper utilizes a plantary gear set to integrate electric power steering system and active front steering system. The proposed mechanism applied on the pinion type steering system not only satisfy the requirement of electric power steering system but also supply the function of active front steering system, and then reduce the mechanism space needed and save the energy consumption of motor. This paper extends the proposed idea to independent steering system. It can supply power assistance and variable steering ratio to each of front wheels by referring to the angle of steering wheel and vehicle speed. Let vehicle carry out Ackerman steering geometry at low speed cornering and parallel steering geometry at high speed cornering so as to increase stability and safety of vehicle handling.

碩士
國立高雄第一科技大學
機械與自動化工程所
94
Abstract In this study, the mechanism design for an electric power steering system was brought up. The design procedure includes two parts. First, the rack-and-pinion mechanism for Watt-Ⅱ six-bar linkage was selected. The input-output displacement equations were derived to adjust the objective function, and the Ackerman principle was applied to find the precision points for Chebyshev polynomial. Then, the dimensions of Watt-Ⅱ six-bar linkage accounting for the requirements and constraints were found out in accordance with the genetic algorithm and the optimization methods proposed in this part. Synthesized mechanism approximately desired profiles well for extended ranges of motion. The other design was concerned a new variable-gear-ratio steering mechanism which was connecting the steering wheel and the front-wheel steering mechanism. This study found that the planetary gear train was the better mechanism for the EPS. A systematic procedure was developed on the innovative design of the five-member planetary gear train of mechanism with two degrees of freedom. When a car is driven on the roads, according to the angle of steering wheel and the speed of the vehicle would be made the value of the steering sensitivity and desired yaw rate gain which are varied at different vehicle speed to obtain better maneuverability and stability. Simultaneously, iii the gear ratio beyond the range of conventional automobiles would be enlarged so that the drivers can deal with the problems of on-street-parking and back-up actions at low speed, on the contrary, the tardy interactions between the steering wheel and the front wheels let the drivers avoid overacting in urgent situations. Finally, the computational tool MATLAB was used to verify the performance of mechanism.