Challenges with Respect to Control of Digital Displacement Hydraulic Units

This paper investigates the many complications arising when controlling a digital displacement hydraulic machine with non-smooth dynamical behavior. The digital hydraulic machine has a modular construction with numerous independently controlled pressure chambers. For proper control of dynamical systems, a model representation of the systems fundamental dynamics is required for transient analysis and controller design. Since the input is binary (active or inactive) and it may only be updated discretely, the machine comprises both continuous and discrete dynamics and therefore belongs to the class of hybrid dynamical systems. The study shows that the dynamical system behavior and control complexity are greatly dependent on the configuration of the machine, the operation strategy, and in which application it is used. Although the system has non-smooth dynamics, the findings show that simple continuous and discrete approximations may be applicable for control development in certain situations, whereas more advanced hybrid control theory is necessary to cover a broader range of situations

Energy Saving Potential in Knuckle Boom Cranes using a Novel Pump Controlled Cylinder Drive

This paper is considering the application of a novel pump controlled cylinder drive, the so-called Speed-variable Switched Differential Pump (SvSDP), for knuckle boom crane actuation. Especially the control system for the SvSDP drive is considered, and aiming on improving energy efficiency a refinement of the existing control structure is proposed. An energy efficient sizing algorithm for the SvSDP drive is developed, and fundamental differences between the achievable operating range for the SvSDP drive compared to a conventional valve-cylinder drive are discussed. A case study is conducted with knuckle boom crane actuation, and compared to a conventional valve actuation. Simulation results show that the motion tracking performance is on a similar level compared to the valve actuation approach, while the energy consumption is drastically decreased. For the given test trajectory the valve actuation system consumes 0.79 kWh of electrical energy, while the SvSDP drive consume 0.06 kWh, if ideal energy recovery and storage is assumed

Model Predictive Control of Low-Speed Partial Stroke Operated Digital Displacement Pump Unit

To enhance the use of the Digital Displacement Machine (DDM) technology as the future solution for low speed fluid power pump and motor units, a Model Predictive Control (MPC) strategy is presented. For a low speed DDM, the conventional full stroke operation strategy is unsuitable, since the control update rate is proportional to the machine speed. This creates an incentive to utilize sequential partial stroke operation where a fraction of the full stroke is used, which thereby increases the control update rate and control signal resolution. By doing this, the energy loss is increased and may become undesirable large if the control objective is purely set-point tracking, why a trade-off is considered advantageous. Discretizing the full stroke based on a chosen update rate results in a Discrete Linear Time Invariant (DLTI) model of the system with discrete input levels. In this paper, the Differential Evolution Algorithm (DEA) is used to determine the optimal control input based on the trade-off between set-point tracking and energy cost in the prediction horizon. The paper presents a flow and a pressure control strategy for a fixed speed digital displacement pump unit and shows the trade-off influence on the optimal solution through simulation. Results show the applicability of the control strategy and indicate that a much higher energy efficiency may be obtained with only a minor decrease in tracking performance for pressure control

Determining actuator requirements for cyclic varying pitch propeller for ships

In marine applications, a cyclic varying pitch (CVP) propeller is a propeller in which the propeller blade can be cyclic-pitched. This cyclic pitching of the propeller blades is used to adapt to the local flow conditions in the non-uniform wake field that the propeller operates in, behind the ship hull. This has the potential to improve the performance of the propulsion system relative to a propeller which has fixed pitch for each revolution. The potential performance improvements include increasing the propulsion efficiency and reducing the cavitation, pressure pulses, vibrations and noise problems. However, the CVP propeller is not on the market today, and several challenges have to be addressed before the CVP propeller may be realized. One of these challenges is how to design the individual cyclic pitch mechanism for the propeller. However, before the cyclic pitch mechanism can be designed, it is necessary to know the requirements for it, such as the required pitching power and torque. The focus of the current paper is therefore to present a model for the propeller, by which it is possible to determine the loads acting on the CVP propeller blades during the cyclic pitching, and hence the actuator force/torque and power requirements. To illustrate the usefulness of the model, an example is presented, in which the loads on a CVP propeller are determined, together with the requirements for the individual cyclic pitch mechanism. The efficiency results presented are, however, not representative of the efficiency improvement that may be obtained, as neither the propeller nor the pitch trajectory has been optimised. The results do, however, serve to show the benefit and validity of the model

Fatness-Associated FTO Gene Variant Increases Mortality Independent of Fatness – in Cohorts of Danish Men

The A-allele of the single nucleotide polymorphism (SNP), rs9939609, in the FTO gene is associated with increased fatness. We hypothesized that the SNP is associated with morbidity and mortality through the effect on fatness.In a population of 362,200 Danish young men, examined for military service between 1943 and 1977, all obese (BMI>or=31.0 kg/m(2)) and a random 1% sample of the others were identified. In 1992-94, at an average age of 46 years, 752 of the obese and 876 of the others were re-examined, including measurements of weight, fat mass, height, and waist circumference, and DNA sampling. Hospitalization and death occurring during the following median 13.5 years were ascertained by linkage to national registers. Cox regression analyses were performed using a dominant effect model (TT vs. TA or AA). In total 205 men died. Mortality was 42% lower (p = 0.001) with the TT genotype than in A-allele carriers. This phenomenon was observed in both the obese and the randomly sampled cohort when analysed separately. Adjustment for fatness covariates attenuated the association only slightly. Exploratory analyses of cause-specific mortality and morbidity prior to death suggested a general protective effect of the TT genotype, whereas there were only weak associations with disease incidence, except for diseases of the nervous system.Independent of fatness, the A-allele of the FTO SNP appears to increase mortality of a magnitude similar to smoking, but without a particular underlying disease pattern barring an increase in the risk of diseases of the nervous system

Intratumoral heterogeneity of microRNA expression in rectal cancer

Introduction: An increasing number of studies have investigated microRNAs (miRNAs) as potential markers of diagnosis, treatment and prognosis. So far, agreement between studies has been minimal, which may in part be explained by intratumoral heterogeneity of miRNA expression. The aim of the present study was to assess the heterogeneity of a panel of selected miRNAs in rectal cancer, using two different technical approaches. Materials and Methods: The expression of the investigated miRNAs was analysed by real-time quantitative polymerase chain reaction (RT-qPCR) and in situ hybridization (ISH) in tumour specimens from 27 patients with T3-4 rectal cancer. From each tumour, tissue from three different luminal localisations was examined. Inter- and intra-patient variability was assessed by calculating intraclass correlation coefficients (ICCs). Correlations between RT-qPCR and ISH were evaluated using Spearman's correlation. Results: ICCsingle (one sample from each patient) was higher than 50% for miRNA-21 and miRNA-31. For miRNA-125b, miRNA-145, and miRNA-630, ICCsingle was lower than 50%. The ICCmean (mean of three samples from each patient) was higher than 50% for miRNA-21(RT-qPCR and ISH), miRNA-125b (RT-qPCR and ISH), miRNA-145 (ISH), miRNA-630 (RT-qPCR), and miRNA-31 (RT-qPCR). For miRNA-145 (RT-qPCR) and miRNA-630 (ISH), ICCmean was lower than 50%. Spearman correlation coefficients, comparing results obtained by RT-qPCR and ISH, respectively, ranged from 0.084 to 0.325 for the mean value from each patient, and from -0.085 to 0.515 in the section including the deepest part of the tumour. Conclusion: Intratumoral heterogeneity may influence the measurement of miRNA expression and consequently the number of samples needed for representative estimates. Our findings with two different methods suggest that one sample is sufficient for adequate assessment of miRNA-21 and miRNA-31, whereas more samples would improve the assessment of miRNA-125b, miRNA-145, and miRNA-630. Interestingly, we found a poor correlation between the expression estimates obtained by RT-qPCR and ISH, respectively