Real-time PMU monitoring of an IEEE 5-Bus Network implemented on OPAL system

This thesis studies the state-of-the-art of phasor measurement units (PMUs) as well as their metrological requirements stated in the IEEE C37.118.1 and C37.118.2 Standards for guaranteeing correct measurement performances. Communication systems among PMUs and their possible applicability in the field of power quality (PQ) assessment are also investigated. This preliminary study is followed by an analysis of the working principle of real-time (RT) simulators and the importance of hardware-in-the-loop (HIL) implementation, examining the possible case studies specific for PMUs, including compliance tests which are one of the most important parts. The core of the thesis is focused on the implementation of a PMU model in the IEEE 5-bus network in Simulink and in the validation of the results using OPAL RT-4510 as a real-time simulator. An initial check allows one to get an idea about the goodness of the results in Simulink, comparing the PMU data with respect to the load-flow steady-state information. In this part, accuracy indices are also calculated for both voltage and current synchrophasors. The following part consists in the implementation of the same code in OPAL-RT 4510 simulator, after which an initial analysis is carried out in a qualitative way in order to get a sense of the goodness of the outcomes. Finally, the confirmation of the results is based on an examination of the attained voltage and current synchrophasors and accuracy indices coming from Simulink models and from OPAL system, using a Matlab script. This work also proposes suggestions for an upcoming operation of PMUs in a more complex system as the Digital Twin (DT) in order to improve the performances of the already-existing protection devices of the distribution system operator (DSO) for a future enhancement of power systems reliability.

Long-period oscillations in GPS Up time series. Study over the European/Mediterranean area

The surface of the Earth is subjected to vertical deformations caused by geophysical and geological processes which can be monitored by Global Positioning System (GPS) observations. The purpose of this work is to investigate GPS height time series to identify interannual signals affecting the Earth’s surface over the European and Mediterranean area, during the period 2001-2019. Thirty-six homogeneously distributed GPS stations were selected from the online dataset made available by the Nevada Geodetic Laboratory (NGL) on the basis of the length and quality of the data series. The Principal Component Analysis (PCA) is the technique applied to extract the main patterns of the space and time variability of the GPS Up coordinate. The time series were studied by means of a frequency analysis using a periodogram and the real-valued Morlet wavelet. The periodogram is used to identify the dominant frequencies and the spectral density of the investigated signals; the second one is applied to identify the signals in the time domain and the relevant periodicities. This study has identified, over European and Mediterranean area, the presence of interannual non-linear signals with a period of 2-to-4 years, possibly related to atmospheric and hydrological loading displacements and to climate phenomena, such as El Niño Southern Oscillation (ENSO). A clear signal with a period of about six years is present in the vertical component of the GPS time series, likely explainable by the gravitational coupling between the Earth’s mantle and the inner core. Moreover, signals with a period in the order of 8-9 years, might be explained by mantle-inner core gravity coupling and the cycle of the lunar perigee, and a signal of 18.6 years, likely associated to lunar nodal cycle, were identified through the wavelet spectrum. However, these last two signals need further confirmation because the present length of the GPS time series is still too short when compared to the periods involved.

Non-linear modelling of microwave devices embedding nano-ferroelectric materials for real-time reconfigurable transmitarray

In this thesis work a nonlinear model for Interdigitated Capacitors (IDCs) based on ferroelectric materials, is proposed. Through the properties of materials such as Hafnium-Zirconium Oxide (HfZrO2), it is possible to realize tunable radiofrequency (RF) circuits. In particular, the model proposed in this thesis describes the use of an IDC, realized on a High-Resistivity silicon substrate, as a phase shifter for beam-steering applications. The model is obtained starting from already present experimental measurements, through which it is possible to identify a circuit model. The model is tested for both low power values and other power values using Harmonic Balance simulations, which show an excellent convergence of the model up to 40 dBm of input power. Furthermore, an array composed by two patches operating both at 2.55 GHz, which exploits the tunable properties of the HfZrO-based IDC is proposed. At 0dBm the model shows a 47° phase shift with polarization -1 V and 1 V which leads to a 11° steering of the main lobe of the array.

Back-in-time void finder: dynamical detection of cosmic voids for precision cosmology

Cosmic voids are vast and underdense regions emerging between the elements of the cosmic web and dominating the large-scale structure of the Universe. Void number counts and density profiles have been demonstrated to provide powerful cosmological probes. Indeed, thanks to their low-density nature and they very large sizes, voids represent natural laboratories to test alternative dark energy scenarios, modifications of gravity and the presence of massive neutrinos. Despite the increasing use of cosmic voids in Cosmology, a commonly accepted definition for these objects has not yet been reached. For this reason, different void finding algorithms have been proposed during the years. Voids finder algorithms based on density or geometrical criteria are affected by intrinsic uncertainties. In recent years, new solutions have been explored to face these issues. The most interesting is based on the idea of identify void positions through the dynamics of the mass tracers, without performing any direct reconstruction of the density field. The goal of this Thesis is to provide a performing void finder algorithm based on dynamical criteria. The Back-in-time void finder (BitVF) we present use tracers as test particles and their orbits are reconstructed from their actual clustered configuration to an homogeneous and isotropic distribution, expected for the Universe early epoch. Once the displacement field is reconstructed, the density field is computed as its divergence. Consequently, void centres are identified as local minima of the field. In this Thesis work we applied the developed void finding algorithm to simulations. From the resulting void samples we computed different void statistics, comparing the results to those obtained with VIDE, the most popular void finder. BitVF proved to be able to produce a more reliable void samples than the VIDE ones. The BitVF algorithm will be a fundamental tool for precision cosmology, especially with upcoming galaxy-survey.

Factors affecting the mission time of an autonomous mobile robot: a theoretical and experimental investigation

I vantaggi dell’Industria 4.0 hanno stravolto il manufacturing. Ma cosa vuol dire "Industria 4.0"? Essa è la nuova frontiera del manufacturing, basata su princìpi che seguono i passi avanti dei sistemi IT e della tecnologia. Dunque, i suoi pilastri sono: integrazione, verticale e orizzontale, digitalizzazione e automazione. L’Industria 4.0 coinvolge molte aree della supply chain, dai flussi informativi alla logistica. In essa e nell’intralogistica, la priorità è sviluppare dei sistemi di material handling flessibili, automatizzati e con alta prontezza di risposta. Il modello ideale è autonomo, in cui i veicoli fanno parte di una flotta le cui decisioni sono rese decentralizzate grazie all'alta connettività e alla loro abilità di collezionare dati e scambiarli rapidamente nel cloud aziendale.Tutto ciò non sarebbe raggiungibile se ci si affidasse a un comune sistema di trasporto AGV, troppo rigido e centralizzato. La tesi si focalizza su un tipo di material handlers più flessibile e intelligente: gli Autonomous Mobile Robots. Grazie alla loro intelligenza artificiale e alla digitalizzazione degli scambi di informazioni, interagiscono con l’ambiente per evitare ostacoli e calcolare il percorso ottimale. Gli scenari dell’ambiente lavorativo determinano perdite di tempo nel tragitto dei robot e sono queste che dovremo studiare. Nella tesi, i vantaggi apportati dagli AMR, come la loro decentralizzazione delle decisioni, saranno introdotti mediante una literature review e poi l’attenzione verterà sull’analisi di ogni scenario di lavoro. Fondamentali sono state le esperienze nel Logistics 4.0 Lab di NTNU, per ricreare fisicamente alcuni scenari. Inoltre, il software AnyLogic sarà usato per riprodurre e simulare tutti gli scenari rilevanti. I risultati delle simulazioni verranno infine usati per creare un modello che associ ad ogni scenario rilevante una perdita di tempo, attraverso una funzione. Per questo saranno usati software di data analysis come Minitab e MatLab.

Analisi e nuove applicazioni delle Real-time Silent Speech BCIs

Il fatto che il pensiero sia più rapido della comunicazione verbale o scritta è un concetto ormai consolidato. Ricerche recenti, però, si stanno occupando di sviluppare nuove tecnologie in grado di tradurre l’attività neurale in parole o testi in tempo reale. È proprio questo il campo delle Real-time Silent Speech Brain-Computer Interfaces, ovvero sistemi di comunicazione alternativi, basati sulla registrazione e sull’interpretazione di segnali neurali, generati durante il tentativo di parlare o di scrivere. Queste innovazioni tecnologiche costituiscono un traguardo fondamentale per la vita delle persone con paralisi o con patologie neurologiche che determinano l’inabilità a comunicare. L’obiettivo di questo elaborato è quello di descrivere due applicazioni innovative nell’ambito delle Real-time Silent Speech-BCIs. I metodi di BCI confrontati nel presente elaborato sintetizzano il parlato attraverso la rilevazione invasiva o parzialmente invasiva dell’attività cerebrale. L’utilizzo di metodi invasivi per la registrazione dell’attività cerebrale è giustificato dal fatto che le performance di acquisizione del segnale ottenute sono tali da controbilanciare i rischi associati all’operazione chirurgica necessaria per l’impianto. Le tecniche descritte sfruttano delle Reti Neurali Ricorrenti (RNNs), che si sono dimostrate le più efficaci nel prevedere dati sequenziali. Gli studi presentati in questa tesi costituiscono un passaggio fondamentale nel progresso tecnologico per il ripristino della comunicazione in tempo reale e sono i primi a riportare prestazioni di sintesi paragonabili a quelle del linguaggio naturale.