Droop setting design for multi-terminal HVDC grids considering voltage deviation impacts

In multi-terminal high voltage direct current (HVDC) grids, the widely deployed droop control strategies will cause a non-uniform voltage deviation on the power flow, which is determined by the network topology and droop settings. This voltage deviation results in an inconsistent power flow pattern when the dispatch references are changed, which could be detrimental to the operation and seamless integration of HVDC grids. In this paper, a novel droop setting design method is proposed to address this problem for a more precise power dispatch. The effects of voltage deviations on the power sharing accuracy and transmission loss are analysed. This paper shows that there is a trade-off between minimizing the voltage deviation, ensuring a proper power delivery and reducing the total transmission loss in the droop setting design. The efficacy of the proposed method is confirmed by simulation studies.

Adaptive backstepping droop controller design for multi-terminal high-voltage direct current systems

Wind power is one of the most developed renewable energy resources worldwide. To integrate offshore wind farms to onshore grids, the high-voltage direct current (HVDC) transmission cables interfaced with voltage source converters (VSCs) are considered to be a better solution than conventional approaches. Proper DC voltage indicates successive power transfer. To connect more than one onshore grid, the DC voltage droop control is one of the most popular methods to share the control burden between different terminals. However, the challenges are that small droop gains will cause voltage deviations, while higher droop gain settings will cause large oscillations. This study aims to enhance the performance of the traditional droop controller by considering the DC cable dynamics. Based on the backstepping control concept, DC cables are modelled with a series of capacitors and inductors. The final droop control law is deduced step-by-step from the original remote side. At each step the control error from the previous step is considered. Simulation results show that both the voltage deviations and oscillations can be effectively reduced using the proposed method. Further, power sharing between different terminals can be effectively simplified such that it correlates linearly with the droop gains, thus enabling simple yet accurate system operation and control.

Multi-UAVs formation autopilot design and performance analysis under interconnection topologies

This paper employs a unique extension-decomposition-aggregation (EDA) scheme to solve the formation flight control problem for multiple unmanned aerial vehicles (UAVs). The corresponding decentralised longitudinal and lateral formation autopilots are novelly designed to maintain the overall formation stability when encountering changes of the formation error and topologies. The concept of propagation layer number (PLN) is also proposed to provide an intuitive criterion to judge which type of formation topology is more suitable to minimise formation error propagation (FEP). The criterion states that the smaller the PLN of the formation is, the quicker the response to the formation error is. A smaller PLN also means that the resulting topology provides better prevention to the FEP. Simulation studies of formation flight of multiple Aerosonde UAVs demonstrate that the designed formation controller based on the EDA strategy performs satisfactorily in maintaining the overall formation stable, and the bidirectional partial-mesh topology is found to provide the best overall response to the formation error propagation based on the PLN criterion.

Research-informed design, management and maintenance of infrastructure slopes: development of a multi-scalar approach

The UK’s transport infrastructure is one of the most heavily used in the world. The performance of these networks is critically dependent on the performance of cutting and embankment slopes which make up £20B of the £60B asset value of major highway infrastructure alone. The rail network in particular is also one of the oldest in the world: many of these slopes are suffering high incidents of instability (increasing with time). This paper describes the development of a fundamental understanding of earthwork material and system behaviour, through the systematic integration of research across a range of spatial and temporal scales. Spatially these range from microscopic studies of soil fabric, through elemental materials behaviour to whole slope modelling and monitoring and scaling up to transport networks. Temporally, historical and current weather event sequences are being used to understand and model soil deterioration processes, and climate change scenarios to examine their potential effects on slope performance in futures up to and including the 2080s. The outputs of this research are being mapped onto the different spatial and temporal scales of infrastructure slope asset management to inform the design of new slopes through to changing the way in which investment is made into aging assets. The aim ultimately is to help create a more reliable, cost effective, safer and more resilient transport system.

Integration of design of experiment, surface response methodology and multi-layer validation to predict the effect of blanching on colour of tomato juice

Response surface methodology was used to develop models to predict the effect of tomato cultivar, juice pH, blanching temperature and time on colour change of tomato juice after blanching. The juice from three tomato cultivars with adjusted pH levels ranging from 3.9 to 4.6 were blanched at temperatures from 60-100 °C for 1-5 min using the central composite design (CCD). The colour change was assessed by calculating the redness (a/b) and total colour change (∆E) after measuring the Hunter L, a and b values. Developed models for both redness and ∆E were significant (p<0.0001) with satisfactory coefficient of determination (R2 = 0.99 and 0.97) and low coefficient of variation (CV% = 1.89 and 7.23), respectively. Multilevel validation that was implemented revealed that the variation between the predicted and experimental values obtained for redness and ∆E were within the acceptable error range of 7.3 and 22.4%, respectively

Radiological protection and nuclear engineering studies in multi-MW target systems

Tese de doutoramento, Física, Universidade de Lisboa, Faculdade de Ciências, 2014

Design and Qualitative/Quantitative Analysis of Multi-Agent Spatial Simulation Library

Thesis (Master's)--University of Washington, 2012

Design and evaluation of multi-band RF energy harvesting circuits and antennas for WSNs

Radio frequency (RF) energy harvesting is an emerging technology that will enable to drive the next generation of wireless sensor networks (WSNs) without the need of using batteries. In this paper, we present RF energy harvesting circuits specifically developed for GSM bands (900/1800) and a wearable dual-band antenna suitable for possible implementation within clothes for body worn applications. Besides, we address the development and experimental characterization of three different prototypes of a five-stage Dickson voltage multiplier (with match impedance circuit) responsible for harvesting the RF energy. Different printed circuit board (PCB) fabrication techniques to produce the prototypes result in different values of conversion efficiency. Therefore, we conclude that if the PCB fabrication is achieved by means of a rigorous control in the photo-positive method and chemical bath procedure applied to the PCB it allows for attaining better values for the conversion efficiency. All three prototypes (1, 2 and 3) can power supply the IRIS sensor node for RF received powers of -4 dBm, -6 dBm and -5 dBm, and conversion efficiencies of 20, 32 and 26%, respectively. © 2014 IEEE.

Strategic design of There App’s business model: From product to multi-sided platform

The following work project illustrates the strategic issues There App, a mobile application, faces regarding the opportunity to expand from its current state as a product to a multisided platform. Initially, a market analysis is performed to identify the ideal customer groups to be integrated in the platform. Strategic design issues are then discussed on how to best match its value proposition with the identified market opportunity. Suggestions on how the company should organize its resources and operational processes to best deliver on its value proposition complete the work.

Collaborations complexes : modèle théorique et vérification empirique préliminaire en contexte de projets interdisciplinaires et interorganisationnels

La collaboration constitue une stratégie efficace pour aider les organisations et les individus à évoluer dans des environnements dynamiques et complexes, et génère de nombreux avantages cognitifs, affectifs et pécuniaires. De plus en plus, les équipes de travail sont impliquées dans des collaborations complexes, lesquelles requièrent de transiger à travers les frontières nationales, organisationnelles et disciplinaires. Bien que les collaborations complexes soient de plus en plus courantes en milieux organisationnels et étudiées par les scientifiques, peu d’études empiriques ont été réalisées sur le sujet et la documentation inhérente est disséminée dans divers silos parallèles de connaissances, donnant lieu à des modèles conceptuels divergents et incomplets. L’importance croissante de ces formes de collaboration crée l’impératif scientifique et pratique d’en acquérir une meilleure compréhension ainsi que d’identifier et d’évaluer les conditions et les facteurs qui favorisent leur succès et leur efficacité. Cette thèse vise à combler les lacunes susmentionnées et permettre un avancement des connaissances sur le sujet par l’entremise de deux articles répondant à divers objectifs de recherche. Le premier article avance une définition claire des collaborations complexes, en vue de réduire la confusion entourant ce construit. Il présente également la première revue de documentation sur les facteurs favorisant le succès des collaborations complexes, unifiant les résultats issus de divers contextes et disciplines scientifiques. Cette démarche a permis d’identifier 14 variables clés provenant de 26 études empiriques. À partir de ces données, un modèle conceptuel fondé sur des assises théoriques solides et reconnues en psychologie du travail et des organisations est proposé, offrant ainsi un canevas systémique et dynamique du phénomène ainsi qu’une orientation détaillée des pistes de recherches pertinentes. Le deuxième article part des résultats obtenus dans le premier article afin d’évaluer empiriquement les relations entre certains facteurs clés ayant un impact sur des extrants importants de collaborations complexes. L’étude multiphasique est réalisée auprès de 16 équipes de projets (N=93) interdisciplinaires et interorganisationnelles prenant part à des sessions de travail intensives visant la production de concepts novateurs en design intégré lié au développement durable. Les analyses corrélationnelles montrent des liens positifs entre l’ouverture à la diversité, les processus collaboratifs, la viabilité, la performance d’équipe et la performance de projet, ainsi que des liens négatifs entre les conflits et ces mêmes extrants. De plus, les analyses de médiation multiple révèlent qu’une plus grande ouverture à la diversité influence positivement la viabilité, la performance d’équipe et la performance de projet en favorisant les processus collaboratifs efficaces et en réduisant les conflits. Les implications théoriques et pratiques découlant de ces résultats sont discutées.

Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.

MTR: the multi-tasking rover - a new concept in rover design

In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs)-modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system.