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Bei der Auslegung von Trocknungsprozessen empfindlicher biologischer Güter spielt die Produktqualität eine zunehmend wichtige Rolle. Obwohl der Einfluss der Trocknungsparameter auf die Trocknungskinetik von Äpfeln bereits Gegenstand vieler Studien war, sind die Auswirkungen auf die Produktqualität bisher kaum bekannt. Die Untersuchung dieses Sachverhalts und die Entwicklung geeigneter Prozessstrategien zur Verbesserung der Qualität des resultierenden Produkts, waren das Ziel der vorliegenden Arbeit. In einem ersten Schritt wurden zunächst umfangreiche stationäre Grundlagenversuche durchgeführt, die zeigten, dass eine Lufttemperatur im höheren Bereich, eine möglichst hohe Luftgeschwindigkeit und eine niedrige Taupunkttemperatur zur geringsten Trocknungszeit bei gleichzeitig guter optischer Qualität führt. Die Beurteilung dieser Qualitätsveränderungen erfolgte mit Hilfe einer neu eingeführten Bezugsgröße, der kumulierten thermischen Belastung, die durch das zeitliche Integral über der Oberflächentemperatur repräsentiert wird und die Vergleichbarkeit der Versuchsergebnisse entscheidend verbessert. Im zweiten Schritt wurden die Ergebnisse der Einzelschichtversuche zur Aufstellung eines numerischen Simulationsmodells verwendet, welches sowohl die entsprechenden Transportvorgänge, als auch die Formveränderung des Trocknungsgutes berücksichtigt. Das Simulationsmodell sowie die experimentellen Daten waren die Grundlage zur anschließenden Entwicklung von Prozessstrategien für die konvektive Trocknung von Äpfeln, die die resultierende Produktqualität, repräsentiert durch die Produktfarbe und –form, verbessern und gleichzeitig möglichst energieeffizient sein sollten. In einem weiteren Schritt wurde die Übertragbarkeit auf den industriellen Maßstab untersucht, wobei die entsprechenden Prozessstrategien an einer neu entwickelten, kostengünstigen Trocknungsanlage erfolgreich implementiert werden konnten. Das Ziel einer verbesserten Produktqualität konnte mit Hilfe unterschiedlicher instationärer Trocknungsschemata sowohl am Einzelschichttrockner, als auch im größeren Maßstab erreicht werden. Das vorgestellte numerische Simulationsmodell zeigte auch bei der Vorhersage des instationären Trocknungsprozesses eine hohe Genauigkeit und war außerdem in der Lage, den Trocknungsverlauf im industriellen Maßstab zuverlässig voraus zu berechnen.
Nowadays, most digital modulation schemes are based on conventional signal constellations that have no algebraic group, ring, or field properties, e.g. square quadrature-amplitude modulation constellations. Signal constellations with algebraic structure can enhance the system performance. For instance, multidimensional signal constellations based on dense lattices can achieve performance gains due to the dense packing. The algebraic structure enables low-complexity decoding and detection schemes. In this work, signal constellations with algebraic properties and their application in spatial modulation transmission schemes are investigated. Several design approaches of two- and four-dimensional signal constellations based on Gaussian, Eisenstein, and Hurwitz integers are shown. Detection algorithms with reduced complexity are proposed. It is shown, that the proposed Eisenstein and Hurwitz constellations combined with the proposed suboptimal detection can outperform conventional two-dimensional constellations with ML detection.
Particularly for manufactured products subject to aesthetic evaluation, the industrial manufacturing process must be monitored, and visual defects detected. For this purpose, more and more computer vision-integrated inspection systems are being used. In optical inspection based on cameras or range scanners, only a few examples are typically known before novel examples are inspected. Consequently, no large data set of non-defective and defective examples could be used to train a classifier, and methods that work with limited or weak supervision must be applied. For such scenarios, I propose new data-efficient machine learning approaches based on one-class learning that reduce the need for supervision in industrial computer vision tasks. The developed novelty detection model automatically extracts features from the input images and is trained only on available non-defective reference data. On top of the feature extractor, a one-class classifier based on recent developments in deep learning is placed. I evaluate the novelty detector in an industrial inspection scenario and state-of-the-art benchmarks from the machine learning community. In the second part of this work, the model gets improved by using a small number of novel defective examples, and hence, another source of supervision gets incorporated. The targeted real-world inspection unit is based on a camera array and a flashing light illumination, allowing inline capturing of multichannel images at a high rate. Optionally, the integration of range data, such as laser or Lidar signals, is possible by using the developed targetless data fusion method.
Path planning and collision avoidance for safe autonomous vessel navigation in dynamic environments
(2017)
The intentions of the so-called "More Electrical Aircraft" (MEA) are higher efficiency and lower weight. A main topic here is the application of electrical instead of hydraulical, pneumatical and mechanical systems. The necessary power electronic devices have intermediate DC-links, which are typically supplied by a three-phase system with active B6 and passive B12 rectifiers. A possible alternative is the B6 diode bridge in combination with an active power filter (APF). Due to the parallel arrangement, the APF offers a higher power density and is able to compensate for harmonics from several devices. The use of the diode bridge rectifier alone is not permitted due to the highly distorted phase current. The following investigations are dealing with the development of an active power filter for a three-phase supply with variable frequency from 360 to 800 Hz. All relevant components such as inductors, EMC-filters, power modules and DC-link capacitor are designed. A particular focus is put on the customized power module with SiC-MOSFETs and SiC-diodes, which is characterized electrically and thermally. The maximum supply frequency slope has a value of 50 Hz/ms, which requires a high dynamic and robustness on the control algorithm. Furthermore, the content of 5th and 7th harmonics must be reduced to less than 2 %, which demands a high accuracy. To cope with both requirements, a two-stage filter algorithm is developed and implemented in two independent signal processors. Simulations and laboratory experiments confirm the performance and robustness of the control algorithm. This work comprehensively presents the design of aerospace rectifiers. The results were published in conferences and patents.
According to the World Food Organization, nearly half of all root and tuber crops worldwide are not consumed, but are lost due to inappropriate storage and post-harvest losses. In developing countries such as Ethiopia, potatoes have not been dried, but are traditionally stored in potato clamps. So far, dried potatoes have not been converted into usable foods.
The aim of the present work is to convert potatoes - perishable rootlets and tubers - into stable products by hot air drying. Hot air dryers are economical to operate in industrialized countries. In Africa, this is reserved for larger industrial companies only. In regions with a tropical climate, however, the use of solar tunnel dryers is worthwhile. These are a good choice for farming and small industries and wherever electrical energy is difficult or impossible to obtain.
In a first part of the work, the drying process of potatoes was investigated, in particular with regard to the change of thermal, mechanical and chemical quality parameters. In an evaluation of the literature it was found that potatoes are not subject to quality changes if the water activityis below a value of 0.2. In order to determine the water content associated with this value at storage temperature, the known equations for the sorption equilibrium were evaluated and verified with own experimental investigations. This determined the end point of the drying process.
The following experimental investigations showed a process-dependent change of the quality criteria such as color, shrinkage, and mechanical properties as well as the content of valuedetermining substances such as vitamin C and starch. The differences in the course and magnitude of the quality changes were attributed to the glass transition that takes place during the drying process. For the determination of the glass transition temperature a new, simple method based on the measurement of mechanical properties could be developed. The knowledge of the glass transition temperature allowed optimizing the drying process. The drying process could be carried out in the rubbery or glassy region, depending on the expected quality changes. Thus, all information was available to produce high quality dried potatoes in an industrial process.
Since the production of potato products in less industrialized regions without sufficient supply of electrical energy should be included, potatoes were dried with a solar tunnel dryer. Examination of the quality properties mentioned above confirmed the process-dependent quality changes.
Finally, the dried product was ground and with the flour thus produced, wheat flour was replaced for baking bread. An evaluation of the finished bread by a panel showed that the acceptance of the bread according to the new recipe was high, also with regard to baking volume, taste, texture and color.
This work shows that by drying potatoes can be transformed a well accepted, storable and easily transportable product. The risk of losses or degradation is minimized. It can be produced on an industrial as well as on farm level. If the influence of the glass transition is taken into account, it is possible to optimize the quality of the product.
The main goal of this work was to experimentally characterize the hot air-drying process of agricultural products (Potato, Carrot, Tomato) and verify it with numerical solutions at single layer and industrial scale dryer using Comsol Multiphysics® 5.3.
Input parameters at single layer dryer effects on quality attributes were examined. Two strategies of drying were applied on batch dryer to examine the input effects on quality attributes. Constant input parameters strategy was designed by using central composite design formulation and optimized by Response Surface Methodology (RSM). The second strategy was applied for further optimization of the selected region by using square wave profile of the air temperature and relative humidity. Similarly, numerical method for single layer dryer, unsteady-state partial differential equations have been solved by means of the Finite Elements Method coupled to the Arbitrary Lagrangian-Eulerian (ALE). Also, for batch dryer, the mechanistic mathematical models of coupled heat and mass transfer were developed and solved as solid porous moist material.
With this work, the process of convective drying of agricultural products could be optimized. Furthermore, important knowledge about the basic mechanisms of the drying process was found and implemented in the numerical models.
This thesis presents the development of two different state-feedback controllers to solve the trajectory tracking problem, where the vessel needs to reach and follow a time-varying reference trajectory. This motion problem was addressed to a real-scaled fully actuated surface vessel, whose dynamic model had unknown hydrodynamic and propulsion parameters that were identified by applying an experimental maneuver-based identification process. This dynamic model was then used to develop the controllers. The first one was the backstepping controller, which was designed with a local exponential stability proof. For the NMPC, the controller was developed to minimize the tracking error, considering the thrusters’ constraints. Moreover, both controllers considered the thruster allocation problem and counteracted environmental disturbance forces such as current, waves and wind.The effectiveness of these approaches was verified in simulation using Matlab/Simulink and GRAMPC (in the case of the NMPC), and in experimental scenarios, where they were applied to the vessel, performing docking maneuvers at the Rhine River in Constance (Germany).