title: Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters

authors: Zhou, Weiqian

subjects: Segway

abstract: Segway has been a popular production as an alternative transporter since its invention at the end of 20th century. Millions of people like for its ergonomic design and high-tech elements. It is predicted to be an innovational product to change a person's life style.

This thesis focuses on building a simple low cost, home-made Segway style scooter. This project uses two electric scooter motors, two 12V car batteries, one accelerometer and several microprocessors to build up the whole system.

Significantly, this project also explains how to build a Brushed Direct Current (BDC) motor driver with a rated output power of more than 350W and the capability of coping with up to 120A transient peak current and up to 40A continuous current. Four-quadrant operation and eight modes of DC motor operation are discussed.

A mathematical model of the Segway style scooter is also introduced in details. This including the modelling of a BDC motor, a two-wheeled inverted pendulum and their combination. The linearization of these models is used. At the end the linearized model is simulated in computer software.

text: Platform for ergonomic steering methods nvestigation of quot Segway-style quot balancing scooters Segway has been a popular production as an alternative transporter since its invention at the end of 20th century. Millions of people like for its ergonomic design and high-tech elements. It is predicted to be an innovational product to change a person's life style.

This thesis focuses on building a simple low cost, home-made Segway style scooter. This project uses two electric scooter motors, two 12V car batteries, one accelerometer and several microprocessors to build up the whole system.

Significantly, this project also explains how to build a Brushed Direct Current (BDC) motor driver with a rated output power of more than 350W and the capability of coping with up to 120A transient peak current and up to 40A continuous current. Four-quadrant operation and eight modes of DC motor operation are discussed.

A mathematical model of the Segway style scooter is also introduced in details. This including the modelling of a BDC motor, a two-wheeled inverted pendulum and their combination. The linearization of these models is used. At the end the linearized model is simulated in computer software.

year: 2008

title: Surface oscillation in peatlands: How variable and important is it?

authors: Fritz, Christian

subjects: hydrology

abstract: Hydrology, particularly the water table position below the surface, is an important control on biogeochemical and ecological processes in peatlands. The position of the water table is a function of total storage changes, drainable porosity and peatland surface oscillation (PSO). Because the absolute level of the peat surface (ASL) oscillates in a peatland, we can assign two different water table positions: the water table depth below the surface (relative water level, RWL) and the water table position above an absolute elevation datum eg. sea level (absolute water level, AWL). 

A review of 37 studies that report peatland surface oscillation indicate a wide range (0.4-55 cm), which is to the same order as (or one order smaller than) water storage changes and RWL fluctuations. PSO can vary substantially across a single peatland and through time. A set of mechanisms (flotation, compression/shrinkage, gas volume changes and freezing) is hypothesised to cause ASL changes. The potential of PSO to reduce RWL fluctuations trended (mean in %) floating peatlands (63) > bogs (21), fens (18) > disturbed peatlands (10) with respect to peatland types. 

To investigate the spatiotemporal variability of peatland surface oscillation, AWL and ASL were monitored continuously over a one-year period (one site) and monthly (23 sites) in a warm-temperate peatland that is dominated by Empodisma minus (Restionaceae). A new measurement method was developed by pairing two water level transducers, one attached to a stable benchmark (ÆAWL) and one attached to the peat surface (ÆRWL). 

From August 2005 until August 2006 the ASL oscillated at one site through a range of 22 cm following AWL fluctuations (in total 47 cm). Consequently, RWL fluctuations were reduced on average to 53% of AWL fluctuations. The strong AWL-ASL relationship was linear for 15 sites with manual measurements. However, eight sites showed significantly higher rates of peatland surface oscillation during the wet season (ie. high AWLs) and thus a non-linear behaviour. Temporary flotation of upper peat layers during the wet season may have caused this non-linear behaviour. On the peatland scale AWL fluctuations (mean 40 cm among sites) were reduced by 30–50% by PSO except for three sites with shallow and dense peat at the peatland margin (7–11%). The reduction of RWL fluctuation was high compared to literature values. The spatial variability of PSO seemed to match well with vegetation patterns rather than peat thickness or bulk density. Sites with large PSO showed high cover of Empodisma minus. 

Surface level changes exhibited surprisingly hysteretic behaviour subsequent to raised AWLs, when the rise of ASL was delayed. This delay reversed the positive ASL-AWL relationship because the surface slowly rose even though AWL started receding. Hysteresis was more pronounced during the dry season than during the wet season. The observed hysteresis can be sufficiently simulated by a simplistic model incorporating delayed ASL fluctuations. 

PSO has wide implications for peatland hydrology by reducing RWL fluctuations, which feed back to peat decomposition and plant cover and potentially to (drainable) porosity. Stable RWL also reduce the probability of surface run-off. It is further argued that the gas content of the roots of plants, particularly Empodisma minus, added enough buoyancy to detach the uppermost peat layers resulting in flotation.

text: Surface oscillation in peatlands: How variable and important is it? Hydrology, particularly the water table position below the surface, is an important control on biogeochemical and ecological processes in peatlands. The position of the water table is a function of total storage changes, drainable porosity and peatland surface oscillation (PSO). Because the absolute level of the peat surface (ASL) oscillates in a peatland, we can assign two different water table positions: the water table depth below the surface (relative water level, RWL) and the water table position above an absolute elevation datum eg. sea level (absolute water level, AWL). 

A review of 37 studies that report peatland surface oscillation indicate a wide range (0.4-55 cm), which is to the same order as (or one order smaller than) water storage changes and RWL fluctuations. PSO can vary substantially across a single peatland and through time. A set of mechanisms (flotation, compression/shrinkage, gas volume changes and freezing) is hypothesised to cause ASL changes. The potential of PSO to reduce RWL fluctuations trended (mean in %) floating peatlands (63) > bogs (21), fens (18) > disturbed peatlands (10) with respect to peatland types. 

To investigate the spatiotemporal variability of peatland surface oscillation, AWL and ASL were monitored continuously over a one-year period (one site) and monthly (23 sites) in a warm-temperate peatland that is dominated by Empodisma minus (Restionaceae). A new measurement method was developed by pairing two water level transducers, one attached to a stable benchmark (ÆAWL) and one attached to the peat surface (ÆRWL). 

From August 2005 until August 2006 the ASL oscillated at one site through a range of 22 cm following AWL fluctuations (in total 47 cm). Consequently, RWL fluctuations were reduced on average to 53% of AWL fluctuations. The strong AWL-ASL relationship was linear for 15 sites with manual measurements. However, eight sites showed significantly higher rates of peatland surface oscillation during the wet season (ie. high AWLs) and thus a non-linear behaviour. Temporary flotation of upper peat layers during the wet season may have caused this non-linear behaviour. On the peatland scale AWL fluctuations (mean 40 cm among sites) were reduced by 30–50% by PSO except for three sites with shallow and dense peat at the peatland margin (7–11%). The reduction of RWL fluctuation was high compared to literature values. The spatial variability of PSO seemed to match well with vegetation patterns rather than peat thickness or bulk density. Sites with large PSO showed high cover of Empodisma minus. 

Surface level changes exhibited surprisingly hysteretic behaviour subsequent to raised AWLs, when the rise of ASL was delayed. This delay reversed the positive ASL-AWL relationship because the surface slowly rose even though AWL started receding. Hysteresis was more pronounced during the dry season than during the wet season. The observed hysteresis can be sufficiently simulated by a simplistic model incorporating delayed ASL fluctuations. 

PSO has wide implications for peatland hydrology by reducing RWL fluctuations, which feed back to peat decomposition and plant cover and potentially to (drainable) porosity. Stable RWL also reduce the probability of surface run-off. It is further argued that the gas content of the roots of plants, particularly Empodisma minus, added enough buoyancy to detach the uppermost peat layers resulting in flotation.

year: 2006

title: He waipuna koropupū: Taranaki Māori wellbeing and suicide prevention

authors: Cameron, Ngaropi

abstract: The research project He Waipuna Koropupū aimed to explore and share a knowledge base that could inform practice in relation to Taranaki Māori suicide. The project was grounded upon the notion that through Taranaki knowledge and information we can make significant changes in our approach to life and to our whānau relationships. The project was primarily about whānau ora and the wellbeing of future generations; through the reclamation and sharing of Taranaki Māori knowledge that can support intergenerational change and transformation. Taranaki Māori whānau (extended family groupings), hapū (subtribal grouping) and iwi (tribal grouping) deserve access to Kaupapa Māori approaches in order to help reclaim and inform decision making processes.

text: He waipuna koropupū: Taranaki Māori wellbeing and suicide prevention The research project He Waipuna Koropupū aimed to explore and share a knowledge base that could inform practice in relation to Taranaki Māori suicide. The project was grounded upon the notion that through Taranaki knowledge and information we can make significant changes in our approach to life and to our whānau relationships. The project was primarily about whānau ora and the wellbeing of future generations; through the reclamation and sharing of Taranaki Māori knowledge that can support intergenerational change and transformation. Taranaki Māori whānau (extended family groupings), hapū (subtribal grouping) and iwi (tribal grouping) deserve access to Kaupapa Māori approaches in order to help reclaim and inform decision making processes.

year: 2017