Energy Harvesting for Autonomous Underwater Vehicles

In this study, energy production for autonomous underwater vehicles is investigated. This project is part of a bigger project called TURTLE. The autonomous vehicles perform oceanic researches at seabed for which they are intended to be kept operational underwater for several months. In order to ful l a long-term underwater condition, powerful batteries are combined with \micro- scale" energy production on the spot. This work tends to develop a system that generates power up to a maximum of 30 W. Latter energy harvesting structure consists basically of a turbine combined with a generator and low-power electronics to adjust the achieved voltage to a required battery charger voltage. Every component is examined separately hence an optimum can be de ned for all, and subsequently also an overall optimum. Di erent design parameters as e.g. number of blades, solidity ratio and cross-section area are compared for di erent turbines, in order to see what is the most feasible type. Further, a generator is chosen by studying how ux distributions might be adjusted to low velocities, and how cogging torque can be excluded by adapted designs. Low-power electronics are con gured in order to convert and stabilize heavily varying three-phase voltages to a constant, recti ed voltage which is usable for battery storage. Clearly, di erent component parameters as maximum power and torque are matched here to increase the overall power generation. Furthermore an overall maximum power is set up for achieving a maximum power ow at load side. Due to among others typical low velocities of about 0.1 to 0.5 m/s, and constructing limits of the prototype, the vast range of components is restricted to only a few that could be used. Hence, a helical turbine is combined in a direct drive mode to a coreless-stator axial- ux permanent-magnet generator, from which the output voltage is adjusted subsequently by a recti er, impedance matching unit, upconverter circuit and an overall control unit to regulate di erent component parameters. All these electronics are combined in a closed-loop design to involve positive feedback signals. Furthermore a theoretical con guration for the TURTLE vehicle is described in this work and a solution is proposed that might be implemented, for which several design tests are performable in a future study.

Electromagnetism based approach to Sector design in Waste Collection

For efficient planning of waste collection routing, large municipalities may be partitioned into convenient sectors. The real case under consideration is the municipality of Monção, in Portugal. Waste collection involves more than 1600 containers over an area of 220 km2 and a population of around 20,000 inhabitants. This is mostly a rural area where the population is distributed in small villages around the 33 boroughs centres (freguesia) that constitute the municipality. In most freguesias, waste collection is usually conducted 3 times a week. However, there are situations in which the same collection is done every day. The case reveals some general and specific characteristics which are not rare, but are not widely addressed in the literature. Furthermore, new methods and models to deal with sectorization and routing are introduced, which can be extended to other applications. Sectorization and routing are tackled following a three-phase approach. The first phase, which is the main concern of the presentation, introduces a new method for sectorization inspired by Electromagnetism and Coulomb’s Law. The matter is not only about territorial division, but also the frequency of waste collection, which is a critical issue in these types of applications. Special characteristics related to the number and type of deposition points were also a motivation for this work. The second phase addresses the routing problems in each sector: new Mixed Capacitated Arc Routing with Limited Multi-Landfills models will be presented. The last phase integrates Sectoring and Routing. Computational results confirm the effectiveness of the entire novel approach.

FPGA field oriented control of an axial flux motor-in-wheel

This paper presents the design and the prototype implementation of a three-phase power inverter developed to drive a motor-in-wheel. The control system is implemented in a FPGA (Field Programmable Gate Array) device. The paper describes the Field Oriented Control (FOC) algorithm and the Space Vector Modulation (SVM) technique that were implemented. The control platform uses a Spartan-3E FPGA board, programmed with Verilog language. Simulation and experimental results are presented to validate the developed system operation under different load conditions. Finally are presented conclusions based on the experimental results.

A case study on the conversion of an internal combustion engine vehicle into an electric vehicle

This paper presents the conversion process of a traditional Internal Combustion Engine vehicle into an Electric Vehicle. The main constitutive elements of the Electric Vehicle are presented. The developed powertrain uses a three-phase inverter with Field Oriented Control and space vector modulation. The developed on-board batteries charging system can operate in Grid-to-Vehicle and Vehicle-to-Grid modes. The implemented prototypes were tested, and experimental results are presented. The assembly of these prototypes in the vehicle was made in accordance with the Portuguese legislation about vehicles conversion, and the main adopted solutions are presented.

Implementation and comparison of different switching techniques for shunt active power filters

This paper presents a comparison between three switching techniques that can be used in three-phase four-wire Shunt Active Power Filters (SAPFs). The implemented switching techniques are: Periodic-Sampling (PS), Triangular Carrier Pulse-Width Modulation (TC-PWM) and Space Vector PWM (SVPWM). The comparison between them is made in terms of the compensated currents THD%, implementation complexity, necessary CPU time and SAPF efficiency. To perform this comparison are presented and analyzed several experimental results, obtained with a 20 kVA Shunt Active Power Filter prototype, specially developed for this purpose. The control system of the developed SAPF is based in the p-q Theory with a grid synchronization algorithm p-PLL.

Controlador com FPGA para um motor-in-wheel CA de fluxo axial

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e de Computadores

Desenvolvimento de um Range Extender para Veículo Elétrico

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e de Computadores

Application for fault location in electrical power distribution systems

Fault location has been studied deeply for transmission lines due to its importance in power systems. Nowadays the problem of fault location on distribution systems is receiving special attention mainly because of the power quality regulations. In this context, this paper presents an application software developed in Matlabtrade that automatically calculates the location of a fault in a distribution power system, starting from voltages and currents measured at the line terminal and the model of the distribution power system data. The application is based on a N-ary tree structure, which is suitable to be used in this application due to the highly branched and the non- homogeneity nature of the distribution systems, and has been developed for single-phase, two-phase, two-phase-to-ground, and three-phase faults. The implemented application is tested by using fault data in a real electrical distribution power system

Synchrotron-based X-ray tomographic microscopy for rock physics investigations

Synchrotron radiation X-ray tomographic microscopy is a nondestructive method providing ultra-high-resolution 3D digital images of rock microstructures. We describe this method and, to demonstrate its wide applicability, we present 3D images of very different rock types: Berea sandstone, Fontainebleau sandstone, dolomite, calcitic dolomite, and three-phase magmatic glasses. For some samples, full and partial saturation scenarios are considered using oil, water, and air. The rock images precisely reveal the 3D rock microstructure, the pore space morphology, and the interfaces between fluids saturating the same pore. We provide the raw image data sets as online supplementary material, along with laboratory data describing the rock properties. By making these data sets available to other research groups, we aim to stimulate work based on digital rock images of high quality and high resolution. We also discuss and suggest possible applications and research directions that can be pursued on the basis of our data.

Immunoscintigraphy with antigranulocyte monoclonal antibodies for the diagnosis of septic loosening of hip prostheses.

To determine the value of immunoscintigraphy (IS) with antigranulocyte monoclonal antibodies (Mab) in the diagnosis of subacute or chronic infection of hip prostheses, we prospectively studied 57 patients (23 women and 34 men; age 29-92 years, mean 72.7 years) sent to our institution in the past 6 years for clinical suspicion of septic loosening of a hip prosthesis. Nineteen patients had bilateral prostheses and one of them was studied twice. A total of 78 prostheses were examined. All patients had three-phase bone scans followed by IS with technetium-99m antigranulocyte Mab BW 250/183. Intervals between bone scans and IS varied from 2 days to 4 weeks. Final diagnosis was assessed by culture in 48 cases (articular puncture or intraoperative sampling) and by clinical follow-up of at least 8 months in 30 cases. Twelve prostheses were considered septic and 66 non-septic. The overall sensitivity and specificity were 92% and 64% respectively for bone scans, 67% and 75% for IS and 67% and 84% for both modalities together. In three cases, IS was doubtful and the final clinical diagnosis was negative for infection. False-positive results were observed in the presence of massive loosening of the prosthesis or in association with metaplastic peri-articular bone formation. In three of the four false-negative results, infection was proven only after enrichment of the culture, and the bacterium was Staphylococcus epidermidis. In 12/33 (36%) positive bone scans IS allowed the diagnosis of infection to be excluded. Overall accuracy of both modalities together was 81% and the negative predictive value was 93%, which compares favourably with the results reported for other non-invasive methods.

Eficiència energètica aplicada a les instal·lacions de la Universitat de Vic

En termes generals, es pot definir l’Eficiència Energètica com la reducció del consum d’energia mantenint els mateixos serveis energètics, sense disminuir el nostre confort i qualitat de vida, protegint el medi ambient, assegurant el proveïment i fomentant un comportament Sostenible al seu ús. L’objectiu principal d’aquest treball, és reduir el consum d’energia i terme de potència contractat a la Universitat de Vic, aplicant un programa d’estalvi amb mesures correctores en el funcionament de les seves instal·lacions o espais. Per tal de poder arribar a aquest objectiu marcat, prèviament s’ha realitzat un estudi acurat, obtenint tota la informació necessària per poder aplicar les mesures correctores a la bossa més important de consum. Un cop trobada, dur a terme l’estudi de la viabilitat de la inversió de les mesures correctores més eficients, optimitzant els recursos destinats. L’espai on s’ha dut a terme l’estudi, ha estat a l’edifici F del Campus Miramarges, seguint les indicacions d’Arnau Bardolet (Cap de Manteniment de la UVIC). Aquest edifici consta d’un entresol, baixos i quatre plantes. L’equip de mesura que s’ha fet servir per realitzar l’estudi, és de la marca Circutor sèrie AR5-L, aquests equips són programables que mesuren, calculen i emmagatzemen en memòria els principals paràmetres elèctrics en xarxes trifàsiques. Els projectes futurs complementaris que es podrien realitzar a part d’aquest són: instal·lar sensors, instal·lar mòduls convertidors TCP/IP, aprofitar la xarxa intranet i crear un escada amb un sinòptic de control i gestió des d’un punt de treball. Aquest aplicatiu permet visualitzar en una pantalla d’un PC tots els estats dels elements controlats mitjançant un sinòptic (encendre/parar manualment l’enllumenat i endolls de les aules, estat d’enllumenat i endolls de les aules, consums instantanis/acumulats energètics, estat dels passadissos entre altres) i explotar les dades recollides a la base de dades. Cada espai tindria la seva lògica de funcionament automàtic específic. Entre les conclusions més rellevants obtingudes en aquest treball s’observa: · Que és pot reduir la potència contractada a la factura a l’estar per sota de la realment consumida. · Que no hi ha penalitzacions a la factura per consum de reactiva, ja que el compensador funciona correctament. · Que es pot reduir l’horari de l’inici del consum d’energia, ja que no correspon a l’activitat docent. · Els valors de la tensió i freqüència estan dintre de la normalitat. · Els harmònics estan al llindar màxim. Analitzant aquestes conclusions, voldria destacar les mesures correctores més importants que es poden dur a terme: canvi tecnològic a LED, temporitzar automàticament l’encesa i apagada dels fluorescents i equips informàtics de les aules “seguint calendari docent”, instal·lar sensors de moviment amb detecció lumínica als passadissos. Totes les conclusions extretes d’aquest treball, es poden aplicar a tots els edificis de la facultat, prèviament realitzant l’estudi individual de cadascuna, seguint els mateixos criteris per tal d’optimitzar la inversió.

Planning, Developing, and Implementing the Iowa Pavement Marking Management System (IPMMS): Phases I and II, 2006

With an annual pavement marking program of approximately $2 million and another $750 thousand invested in maintenance of durable markings each year, the Iowa DOT is seeking every opportunity to provide all-year markings staying in acceptable condition under all weather conditions. The goal of this study is to analyze existing pavement marking practices and to develop a prototype Pavement Marking Management System (PMMS). This report documents the first two phases of a three-phase research project. Phase I includes an overview of the Iowa DOT’s existing practices and a literature review regarding pavement marking practices in other states. Based on this information, a work plan was developed for Phases II and III of this study. Phase II organized the key components necessary to develop a prototype PMMS for the Iowa DOT. The two primary components are (1) performance/life cycle curves for pavement marking products, and (2) an application matrix tailored to the pavement marking products and roadway and environmental conditions faced by the Iowa DOT. Both components will continue to be refined and tailored to Iowa materials and conditions as more performance data becomes available.

1003-001 Williamson Pond Final Report

Williamson Pond is a 26-acre publicly owned lake located about 2 miles east of the town of Williamson, in Lucas County. It has a watershed area of 1,499 acres. It has been managed since 1976 by the Lucas County Conservation Board (while still under state ownership) for fishing, boating, hunting, picnicking and other passive uses. Designated uses are Class AI, primary contact, and Class B (LW) aquatic life. Williamson Pond is on the 2004 EPA 303(d) List of Impaired Waters. A Total Maximum Daily Load (TMDL) for turbidity and nutrients at Williamson Pond was prepared by IDNR in 2005 and approved by EPA in 2006. The TMDL set reduction targets for both suspended sediment and phosphorus. The Williamson Pond Watershed Management Plan has provided the local work group and partners with information to develop and implement strategies to improve and protect water quality. These strategies are based on a three phase approach that will ultimately lead the removal of Williamson Pond from the Impaired Waters List. The goals identified in this proposal (Phase I) will reduce sediment and phosphorus delivery by 453 tons and 589 pounds annually. The Lucas County SWCD has and will continue to provide leadership on the Williamson Pond Project and has secured the partnerships necessary to address water quality problems and hired a part-time project coordinator to manage, implement, and oversee all activities pertaining to this proposal.

Sähköverkkotiedonsiirtomenetelmän kehittäminen taajuusmuuttajaohjattuihin sähkökäyttöihin

Sähkömoottorin jatkuva-aikainen kunnonvalvonta vaatii tiedonsiirtoa moottorilta ylemmälle tietojärjestelmätasolle, kuten taajuusmuuttajalle. Uusien kaapeleiden asennus on työlästä ja kallista. Moottorin ja taajuusmuuttajan välillä on kuitenkin aina kaapeli, jota käytetään moottorin tehonsyöttöön. Tätä kaapelia on mahdollista käyttää myös tiedonsiirtokanavana. Tässä diplomityössä käsitellään ja tutkitaan sähköverkkotiedonsiirtomenetelmää, jonka avulla voidaan muodostaa Ethernet-yhteys moottorilta taajuusmuuttajalle tai toisinpäin. Työssä kehitetään simulointimalli tiedonsiirtokanavan taajuusriippuvan vaimennuksen simuloimiseen. Lisäksi kehitetään kytkentärajapinta, joka mahdollistaa tiedonsiirron kolmivaiheisessa taajuusmuuttajan syöttämässä moottorikaapelissa. Työssä suunnitellaan ja toteutetaan tiedonsiirtoa varten pilot-laitteisto, jolla tehdään laboratoriotestit. Laboratoriotesteillä varmistetaan menetelmän soveltuvuus. Laboratoriotestien avulla etsitään myös reunaehdot tiedonsiirron toiminnalle ja tiedonsiirtonopeuteen vaikuttavia tekijöitä taajuusmuuttajakäytössä. Lisäksi tarkastellaan menetelmän aiheuttamaa viivettä, joka on tärkeäsäätösovellusten kannalta. Lopuksi arvioidaan menetelmän soveltuvuus käytännön sovelluksiin.

Development of a simulation tool for torsional vibration of branched power transmission system

In this master's thesis a mechanical model that is driven with variable speed synchronous machine was developed. The developed mechanical model simulates the mechanics of power transmission and its torsional vibrations. The mechanical model was developed for the need of the branched mechanics of a rolling mill and the propulsion system of a tanker. First, the scope of the thesis was to clarify the concepts connected to the mechanical model. The clarified concepts are the variable speed drive, the mechanics of power transmission and the vibrationsin the power transmission. Next, the mechanical model with straight shaft line and twelve moments of inertia that existed in the beginning was developed to be branched considering the case of parallel machines and the case of parallel rolls. Additionally, the model was expanded for the need of moreaccurate simulation to up to thirty moments of inertia. The model was also enhanced to enable three phase short circuit situation of the simulated machine. After that the mechanical model was validated by comparing the results of the developed simulation tool to results of other simulation tools. The compared results are the natural frequencies and mode shapes of torsional vibration, the response of the load torque step and the stress in the mechanical system occurred by the permutation of the magnetic field that is arisen from the three phase short circuit situation. The comparisons were accomplished well and the mechanical model was validated for the compared cases. Further development to be made is to develop the load torque to be time-dependent and to install two frequency converters and two FEM modeled machines to be simulated parallel.