Entwicklung eines Windleistungprognosemodells zur Verbesserung der Kraftwerkseinsatzplanung

Die Maßnahmen zur Förderung der Windenergie in Deutschland haben wichtige Anstöße zur technologischen Weiterentwicklung geliefert und die Grundlagen für den enormen Anlagenzubau geschaffen. Die installierte Windleistung hat heute eine beachtliche Größenordnung erreicht und ein weiteres Wachstum in ähnlichen Dimensionen ist auch für die nächsten Jahre zu erwarten. Die aus Wind erzeugte elektrische Leistung deckt bereits heute in einigen Netzbereichen die Netzlast zu Schwachlastzeiten. Dies zeigt, dass die Windenergie ein nicht mehr zu vernachlässigender Faktor in der elektrischen Energieversorgung geworden ist. Im Rahmen der Kraftwerkseinsatzplanung sind Betrag und Verlauf der Windleistung des folgenden Tages mittlerweile zu wichtigen und zugleich schwierig zu bestimmenden Variablen geworden. Starke Schwankungen und falsche Prognosen der Windstromeinspeisung verursachen zusätzlichen Bedarf an Regel- und Ausgleichsleistung durch die Systemführung. Das im Rahmen dieser Arbeit entwickelte Prognosemodell liefert die zu erwartenden Windleistungen an 16 repräsentativen Windparks bzw. Gruppen von Windparks für bis zu 48 Stunden im Voraus. Aufgrund von prognostizierten Wetterdaten des deutschen Wetterdienstes (DWD) werden die Leistungen der einzelnen Windparks mit Hilfe von künstlichen neuronalen Netzen (KNN) berechnet. Diese Methode hat gegenüber physikalischen Verfahren den Vorteil, dass der komplexe Zusammenhang zwischen Wettergeschehen und Windparkleistung nicht aufwendig analysiert und detailliert mathematisch beschrieben werden muss, sondern anhand von Daten aus der Vergangenheit von den KNN gelernt wird. Das Prognosemodell besteht aus zwei Modulen. Mit dem ersten wird, basierend auf den meteorologischen Vorhersagen des DWD, eine Prognose für den Folgetag erstellt. Das zweite Modul bezieht die online gemessenen Leistungsdaten der repräsentativen Windparks mit ein, um die ursprüngliche Folgetagsprognose zu verbessern und eine sehr genaue Kurzzeitprognose für die nächsten drei bis sechs Stunden zu berechnen. Mit den Ergebnissen der Prognosemodule für die repräsentativen Standorte wird dann über ein Transformationsmodell, dem so genannten Online-Modell, die Gesamteinspeisung in einem größeren Gebiet berechnet. Das Prognoseverfahren hat seine besonderen Vorzüge in der Genauigkeit, den geringen Rechenzeiten und den niedrigen Betriebskosten, da durch die Verwendung des bereits implementierten Online-Modells nur eine geringe Anzahl von Vorhersage- und Messstandorten benötigt wird. Das hier vorgestellte Prognosemodell wurde ursprünglich für die E.ON-Netz GmbH entwickelt und optimiert und ist dort seit Juli 2001 im Einsatz. Es lässt sich jedoch auch leicht an andere Gebiete anpassen. Benötigt werden dazu nur die Messdaten der Leistung ausgewählter repräsentativer Windparks sowie die dazu gehörenden Wettervorhersagen, um die KNN entsprechend zu trainieren.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Evaluation of breeding strategies for polledness in dairy cattle using a newly developed simulation framework for quantitative and Mendelian traits

Background: Intensified selection of polled individuals has recently gained importance in predominantly horned dairy cattle breeds as an alternative to routine dehorning. The status quo of the current polled breeding pool of genetically-closely related artificial insemination sires with lower breeding values for performance traits raises questions regarding the effects of intensified selection based on this founder pool. Methods: We developed a stochastic simulation framework that combines the stochastic simulation software QMSim and a self-designed R program named QUALsim that acts as an external extension. Two traits were simulated in a dairy cattle population for 25 generations: one quantitative (QMSim) and one qualitative trait with Mendelian inheritance (i.e. polledness, QUALsim). The assignment scheme for qualitative trait genotypes initiated realistic initial breeding situations regarding allele frequencies, true breeding values for the quantitative trait and genetic relatedness. Intensified selection for polled cattle was achieved using an approach that weights estimated breeding values in the animal best linear unbiased prediction model for the quantitative trait depending on genotypes or phenotypes for the polled trait with a user-defined weighting factor. Results: Selection response for the polled trait was highest in the selection scheme based on genotypes. Selection based on phenotypes led to significantly lower allele frequencies for polled. The male selection path played a significantly greater role for a fast dissemination of polled alleles compared to female selection strategies. Fixation of the polled allele implies selection based on polled genotypes among males. In comparison to a base breeding scenario that does not take polledness into account, intensive selection for polled substantially reduced genetic gain for this quantitative trait after 25 generations. Reducing selection intensity for polled males while maintaining strong selection intensity among females, simultaneously decreased losses in genetic gain and achieved a final allele frequency of 0.93 for polled. Conclusions: A fast transition to a completely polled population through intensified selection for polled was in contradiction to the preservation of high genetic gain for the quantitative trait. Selection on male polled genotypes with moderate weighting, and selection on female polled phenotypes with high weighting, could be a suitable compromise regarding all important breeding aspects.

Model calculations on the influence of quantum electrodynamical effects on the chemistry of superheavy elements.

Using a phenomenological model, the influence of quantum electrodynamical effects on the prediction of the chemical behavior of superheavy elements within a relativistic Dirac-Slater calculation was investigated. This influence will be small and nondetectable for elements up to Z = 114. For elements near Z = 164 some changes in the ground state configurations occur but the chemical behavior will not change. Using this heuristic model, it is also possible to calculate elements beyond Z = 175. As an example we have chosen element E184 and are now able to make more valid speculations about the chemical behavior of the element than Penneman and co-workers could.

Prediction of the azimuth angle dependence of the quasimolecular anisotropy in heavy ion collisions

Within the quasimolecular (MO) kinematic dipole model we predict a strong dependence of the anisotropy of the MO radiation on the orientation of the heavy ion scattering plane relative to the direction of the photon detection plane.

The prediction of seasonal and inter-annual climate variations and their impacts on the water resources in the eastern seaboard of Thailand

The research of this thesis dissertation covers developments and applications of short-and long-term climate predictions. The short-term prediction emphasizes monthly and seasonal climate, i.e. forecasting from up to the next month over a season to up to a year or so. The long-term predictions pertain to the analysis of inter-annual- and decadal climate variations over the whole 21st century. These two climate prediction methods are validated and applied in the study area, namely, Khlong Yai (KY) water basin located in the eastern seaboard of Thailand which is a major industrial zone of the country and which has been suffering from severe drought and water shortage in recent years. Since water resources are essential for the further industrial development in this region, a thorough analysis of the potential climate change with its subsequent impact on the water supply in the area is at the heart of this thesis research. The short-term forecast of the next-season climate, such as temperatures and rainfall, offers a potential general guideline for water management and reservoir operation. To that avail, statistical models based on autoregressive techniques, i.e., AR-, ARIMA- and ARIMAex-, which includes additional external regressors, and multiple linear regression- (MLR) models, are developed and applied in the study region. Teleconnections between ocean states and the local climate are investigated and used as extra external predictors in the ARIMAex- and the MLR-model and shown to enhance the accuracy of the short-term predictions significantly. However, as the ocean state – local climate teleconnective relationships provide only a one- to four-month ahead lead time, the ocean state indices can support only a one-season-ahead forecast. Hence, GCM- climate predictors are also suggested as an additional predictor-set for a more reliable and somewhat longer short-term forecast. For the preparation of “pre-warning” information for up-coming possible future climate change with potential adverse hydrological impacts in the study region, the long-term climate prediction methodology is applied. The latter is based on the downscaling of climate predictions from several single- and multi-domain GCMs, using the two well-known downscaling methods SDSM and LARS-WG and a newly developed MLR-downscaling technique that allows the incorporation of a multitude of monthly or daily climate predictors from one- or several (multi-domain) parent GCMs. The numerous downscaling experiments indicate that the MLR- method is more accurate than SDSM and LARS-WG in predicting the recent past 20th-century (1971-2000) long-term monthly climate in the region. The MLR-model is, consequently, then employed to downscale 21st-century GCM- climate predictions under SRES-scenarios A1B, A2 and B1. However, since the hydrological watershed model requires daily-scale climate input data, a new stochastic daily climate generator is developed to rescale monthly observed or predicted climate series to daily series, while adhering to the statistical and geospatial distributional attributes of observed (past) daily climate series in the calibration phase. Employing this daily climate generator, 30 realizations of future daily climate series from downscaled monthly GCM-climate predictor sets are produced and used as input in the SWAT- distributed watershed model, to simulate future streamflow and other hydrological water budget components in the study region in a multi-realization manner. In addition to a general examination of the future changes of the hydrological regime in the KY-basin, potential future changes of the water budgets of three main reservoirs in the basin are analysed, as these are a major source of water supply in the study region. The results of the long-term 21st-century downscaled climate predictions provide evidence that, compared with the past 20th-reference period, the future climate in the study area will be more extreme, particularly, for SRES A1B. Thus, the temperatures will be higher and exhibit larger fluctuations. Although the future intensity of the rainfall is nearly constant, its spatial distribution across the region is partially changing. There is further evidence that the sequential rainfall occurrence will be decreased, so that short periods of high intensities will be followed by longer dry spells. This change in the sequential rainfall pattern will also lead to seasonal reductions of the streamflow and seasonal changes (decreases) of the water storage in the reservoirs. In any case, these predicted future climate changes with their hydrological impacts should encourage water planner and policy makers to develop adaptation strategies to properly handle the future water supply in this area, following the guidelines suggested in this study.