Learning Robot Environment through Simulation

Traditionally simulators have been used extensively in robotics to develop robotic systems without the need to build expensive hardware. However, simulators can be also be used as a “memory”for a robot. This allows the robot to try out actions in simulation before executing them for real. The key obstacle to this approach is an uncertainty of knowledge about the environment. The goal of the Master’s Thesis work was to develop a method, which allows updating the simulation model based on actual measurements to achieve a success of the planned task. OpenRAVE was chosen as an experimental simulation environment on planning,trial and update stages. Steepest Descent algorithm in conjunction with Golden Section search procedure form the principle part of optimization process. During experiments, the properties of the proposed method, such as sensitivity to different parameters, including gradient and error function, were examined. The limitations of the approach were established, based on analyzing the regions of convergence.

Liiketoimintamalli teollisuuden ylijäämälämmön hyödyntämisestä kaukolämpöverkoissa

Tässä työssä tarkastellaan teollisuuden ylijäämälämmön hyödyntämistä kaukolämpöverkoissa liiketoimintamallin näkökulmasta. Työn tilaaja on YIT Teollisuus Oy, joka haluaa osaltaan olla mukana ratkaisemassa ilmastonmuutoksesta ja hiilidioksidipäästöjen vähentämistarpeista aiheutuvia yhteiskunnan kehitystarpeita. Energiatehokkuuden parantaminen on yksi nopeimmista keinoista vähentää päästöjä. Teollisuuden energiatehokkuutta voidaan parantaa ottamalla talteen sähköntuotannossa ja tuotantoprosesseissa syntyvää ylijäämälämpöä. Aikaisempien tutkimusten perusteella tiedetään, että Suomessa syntyy vuosittain noin 4–6 TWh ylijäämälämpöä, joka voitaisiin hyödyntää jo olemassa olevien kaukolämpöverkkojen välityksellä rakennusten lämmittämiseen. Kuitenkin vuonna 2008 teollisuus myi ylijäämälämpöä kaukolämpöverkkoihin yhteensä vain 770 GWh, mikä vastaa noin 2,5 prosenttia kokonaiskaukolämmön tarpeesta. Tämän työn tuloksena syntyi liiketoimintamalli, joka esittelee ne palvelut, jotka YIT tuottaa asiakkailleen tilanteissa, joissa teollisuudessa syntyvää ylijäämälämpöä hyödynnetään kaukolämpöverkoissa. Jotta liiketoimintamalli toimisi käytännössä, on siitä oltava hyötyä kaikille osapuolille. Asiakkaan on siis voitava kattaa palvelusta ja sen rahoituksesta syntyvät kustannukset myydyn ylijäämälämmön tuotolla (teollisuuslaitos) tai säästyneistä energian hankintakustannuksista (kaukolämpöyhtiö). Eniten ylijäämälämmön käytöstä voivat hyötyä kaukolämpöyhtiöt, joiden tuotannosta korkeintaan pieni osa tulee yhteistuotannosta ja joilla uusiutuvien energialähteiden osuus on vähäinen. Lisäksi kaukolämpöverkon koon vuotuisena kulutuksena mitattuna on oltava riittävän suuri ja kaukolämmön hinnan suhteellisen korkea. Myös alueen ennustettu väestönkasvu ja uudet suunnitteilla olevat asuinalueet saattavat parantaa ylijäämälämmön hyödyntämisen houkuttelevuutta. YIT:n näkökulmasta ylijäämälämmön talteenottoprojektit ovat hyvä lisä sen nykyiseen palvelutarjontaan. Myös yhteiskunnallisella tasolla aihe on merkittävä. Vaikka nykytietämyksen mukaan energian käytön tehostaminen ja päästöttömän tuotannon lisääminen ovat molemmat yhtä merkittäviä keinoja ilmastotavoitteiden saavuttamisen kannalta, panostetaan Suomessa tällä hetkellä lähinnä tuotannon tukemiseen. Lähivuosien poliittiset ratkaisut vaikuttavatkin vahvasti siihen, kuinka paljon tulevaisuudessa ylijäämälämpöä hyödynnetään rakennusten lämmittämisessä.

MODELING AND SIMULATION OF RELIEF INFLUENCE ON EUCALYPTUS FORESTS: INTERACTION BETWEEN SOLAR IRRADIANCE AND PRODUCTIVITY

ABSTRACT This study aimed to verify the differences in radiation intensity as a function of distinct relief exposure surfaces and to quantify these effects on the leaf area index (LAI) and other variables expressing eucalyptus forest productivity for simulations in a process-based growth model. The study was carried out at two contrasting edaphoclimatic locations in the Rio Doce basin in Minas Gerais, Brazil. Two stands with 32-year-old plantations were used, allocating fixed plots in locations with northern and southern exposure surfaces. The meteorological data were obtained from two automated weather stations located near the study sites. Solar radiation was corrected for terrain inclination and exposure surfaces, as it is measured based on the plane, perpendicularly to the vertical location. The LAI values collected in the field were used. For the comparative simulations in productivity variation, the mechanistic 3PG model was used, considering the relief exposure surfaces. It was verified that during most of the year, the southern surfaces showed lower availability of incident solar radiation, resulting in up to 66% losses, compared to the same surface considered plane, probably related to its geographical location and higher declivity. Higher values were obtained for the plantings located on the northern surface for the variables LAI, volume and mean annual wood increase, with this tendency being repeated in the 3PG model simulations.

Kaukolämpöverkon paluuveden hyödyntäminen lämmityksessä

Tässä diplomityössä on määritetty paluuvesilämmityksen mahdollisuudet Savon Voima Oyj:n kaukolämpöpaikkakunnilla. Työssä tarkasteltiin paluuvesilämmityksen tuoman paremman kaukolämpöveden jäähtymän vaikutuksia kaukolämpöverkkoon ja energiantuotantoon sekä laskettiin esimerkkipaikkakunnilla kaukolämmön paluuveden lämpötilan alentumisen tuomat rahalliset hyödyt. Lisäksi tarkasteltiin paluuvesilämmityksen taloudellisuutta esimerkkipaikkakunnilla. Laskennassa saatiin paluuvesilämmityksen tuomaksi jäähtymähyödyksi pumppauskustannuksissa 0,7 – 0,8 €/MWh ja lämpöhäviöissä 1,5 – 2,9 €/MWh. Iisalmessa sähköntuotannon lisääntymisestä saadaan hyötyä 0,7 €/MWh. Suurin hyöty saadaan Pielaveden ja Suonenjoen biolämpökeskusten lämmöntalteenotolla varustetuista savukaasupesureista. Pielavedellä tämä hyöty on 6,4 €/MWh ja Suonenjoella 6,1 €/MWh. Paluuvesilämmityksen kannattavuus asuinkiinteistöissä vaatii lämmöntuotannon yhteydessä olevan savukaasupesurin tuoman rahallisen hyödyn. Esimerkiksi Iisalmessa asiakkaalle myönnettävissä oleva jäähtymähyvitys paluuvesilämmöstä ei riitä kattamaan paluuvesilämmityksen suurempia investointikuluja. Myös pesuripaikkakunnilla kannattavuus vaatii suuren vuosittaisen lämmönkäytön. Tavoiteltaessa 8 vuoden korollista takaisinmaksuaikaa vaatii kannattavuus kohteelta Pielavedellä 250 MWh:n ja Suonejoella 300 MWh:n vuosittaisen lämmönkäytön. Myös asiakkaan sijainnin sopivuus kaukolämpöverkossa paluuvesilämmitykseen täytyy tarkastella tapauskohtaisesti. Paluuvesilämmitys ei tule työn tulosten perusteella tulevaisuudessa yleisesti käyttöön, mutta yksittäisiä asiakkaita siihen voidaan liittää.

Dieselsähköisen laivan pyörimisnopeussäädettyjen voimansiirtokonseptien mallinnus ja vertailu

Tässä työssä tutkitaan eri voimansiirtokonseptien vaikutusta referenssitapauksen polttomoottorivoimalaitoksen energiatehokkuuteen ja polttoaineenkulutukseen staattisessa tilan-teessa. Referenssitapaukseksi on valittu ulkomerellä toimiva huoltoalus. Työssä esitellään dieselsähköisen laivan voimansiirtokonseptien toteutusvaihtoehtoja ja luodaan katsaus valittuihin generaattoreihin sekä taajuusmuuttajiin. Voimansiirtokonseptien hankintahintaa arvioidaan saatujen hintatietojen ja aikaisempien tutkimusten avulla. Lisäksi konseptien energian- ja polttoaineenkulutusta arvioidaan vuositasolla staattisessa tilanteessa. Perinteiselle kiinteän pyörimisnopeuden toteutukselle löydettiin haastajia sekä konseptien kuluttaman energian, että polttoaineen kannalta tarkasteltuna. Lisäksi työssä muodostetaan referenssialusta vastaava yksinkertainen simulointimalli, jolla voidaan arvioida voimalaitoksen tehohäviöitä sekä polttoaineenkulutusta eri ajotavoilla. Simulointimallilla tutkitaan myös energiavaraston tuomia etuja lisäämällä energiavarasto malliin. Mallia simuloitiin paikoitusajossa ilman energiavarastoa, sekä sen kanssa. Energiavaraston avulla saavutettiin merkittävät polttoainesäästöt.

Simulation of moisture profiles in a Latossol in Dourados region, in the State of Mato Grosso do Sul, Brazil

The understanding of unsaturated soil water flow at process-level is essential to develop proper management actions for environmental protection in agricultural systems. One important tool for simulation of soil water flow that has been used worldwide is the SWAP model. The aim of this work was to test and to calibrate the SWAP model by inverse modeling to describe moisture profiles in a Brazilian very clayey Latossol in Dourados, State of Mato Grosso do Sul, Brazil. The SWAP model was tested in an experimental field of 0.09 ha cultivated with soybean and soil profiles were sampled eight times between December 2006 and October 2007. The SWAP input values (i.e. soil water retention curves and meteorological data) were based on in-situ measurements. Simulations with uncalibrated soil water retention curves resulted in moisture profiles that were too wet for almost all sampling dates, in particular between 0-10 cm depth. After calibration of soil water retention curves, there was a good improvement in the simulated moisture profiles, which were within the range of measured values for almost all depths and sampling dates.

Simulation of Solid Processes by Aspen Plus

Solid processes are used for obtaining the valuable minerals. Due to their worth, it is obligatory to perform different experiments to determine the different values of these minerals. With the passage of time, it is becoming more difficult to carry out these experiments for each mineral for different characteristics due to high labor costs and consumption of time. Therefore, scientists and engineers have tried to overcome this issue. They made different software to handle this problem. Aspen is one of those software for the calculation of different parameters. Therefore, the aim of this report was to do simulation for solid processes to observe different effect for minerals. Different solid processes like crushing, screening; filtration and crystallization were simulated by Aspen Plus. The simulation results are obtained by using this simulation software and they are described in this thesis. It was noticed that the results were acceptable for all solid processes. Therefore, this software can be used for the designing of crushers by calculating the power consumption of crushers, can design the filter and for the calculation of material balance for all processes.

Integration of microgrids into electricity distribution networks

Existing electricity distribution system is under pressure because implementation of distributed generation changes the grid configuration and also because some customers demand for better distribution reliability. In a short term, traditional network planning does not offer techno-economical solutions for the challenges and therefore the idea of microgrids is introduced. Islanding capability of microgrids is expected to enable better reliability by reducing effects of faults. The aim of the thesis is to discuss challenges in integration of microgrids into distribution networks. Study discusses development of microgrid related smart grid features and gives estimation of the guideline of microgrid implementation. Thesis also scans microgrid pilots around the world and introduces the most relevant projects. Analysis reveals that the main focus of researched studies is on low voltage microgrids. This thesis extends the idea to medium voltage distribution system and introduces challenges related to medium voltage microgrid implementation. Differences of centralized and distributed microgrid models are analyzed and the centralized model is discovered to be easiest to implement into existing distribution system. Preplan of medium voltage microgrid pilot is also carried out in this thesis.

Microgeneration of electricity with producer gas in dual fuel mode operation

Among the alternatives to meet the increasing of world demand for energy, the use of biomass as energy source is one of the most promising as it contributes to reducing emissions of carbon dioxide in the atmosphere. Gasification is a technological process of biomass energy production of a gaseous biofuel. The fuel gas has a low calorific value that can be used in Diesel engine in dual mode for power generation in isolated communities. This study aimed to evaluate the reduction in the consumption of oil Diesel an engine generator, using gas from gasification of wood. The engine generator brand used was a BRANCO, with direct injection power of 7.36 kW (10 HP) coupled to an electric generator 5.5 kW. Diesel oil mixed with intake air was injected, as the oil was injected via an injector of the engine (dual mode). The fuel gas was produced in a downdraft gasifier. The engine generator was put on load system from 0.5 kW to 3.5 kW through a set of electrical resistances. Diesel oil consumption was measured with a precision scale. It was concluded that the engine converted to dual mode when using the gas for the gasification of wood decreased Diesel consumption by up to 57%.

Application of simulated annealing in simulation and optimization of drying process of Zea mays malt

Kinetic simulation and drying process optimization of corn malt by Simulated Annealing (SA) for estimation of temperature and time parameters in order to preserve maximum amylase activity in the obtained product are presented here. Germinated corn seeds were dried at 54-76 °C in a convective dryer, with occasional measurement of moisture content and enzymatic activity. The experimental data obtained were submitted to modeling. Simulation and optimization of the drying process were made by using the SA method, a randomized improvement algorithm, analogous to the simulated annealing process. Results showed that seeds were best dried between 3h and 5h. Among the models used in this work, the kinetic model of water diffusion into corn seeds showed the best fitting. Drying temperature and time showed a square influence on the enzymatic activity. Optimization through SA showed the best condition at 54 ºC and between 5.6h and 6.4h of drying. Values of specific activity in the corn malt were found between 5.26±0.06 SKB/mg and 15.69±0,10% of remaining moisture.

Auger-type granular fertylizer distributor: matemathical model and dynamic simulation

The objective of this study was to model mathematically and to simulate the dynamic behavior of an auger-type fertilizer applicator (AFA) in order to use the variable-rate application (VRA) and reduce the coefficient of variation (CV) of the application, proposing an angular speed controller θ' for the motor drive shaft. The input model was θ' and the response was the fertilizer mass flow, due to the construction, density of fertilizer, fill factor and the end position of the auger. The model was used to simulate a control system in open loop, with an electric drive for AFA using an armature voltage (V A) controller. By introducing a sinusoidal excitation signal in V A with amplitude and delay phase optimized and varying θ' during an operation cycle, it is obtained a reduction of 29.8% in the CV (constant V A) to 11.4%. The development of the mathematical model was a first step towards the introduction of electric drive systems and closed loop control for the implementation of AFA with low CV in VRA.

Modeling and simulation of forced-air cooling of strawberries using variable convective coefficient

In the forced-air cooling process of fruits occurs, besides the convective heat transfer, the mass transfer by evaporation. The energy need in the evaporation is taken from fruit that has its temperature lowered. In this study it has been proposed the use of empirical correlations for calculating the convective heat transfer coefficient as a function of surface temperature of the strawberry during the cooling process. The aim of this variation of the convective coefficient is to compensate the effect of evaporation in the heat transfer process. Linear and exponential correlations are tested, both with two adjustable parameters. The simulations are performed using experimental conditions reported in the literature for the cooling of strawberries. The results confirm the suitability of the proposed methodology.

Mathematical analysis of maximum power generated by photovoltaic systems and fitting curves for standard test conditions

The rural electrification is characterized by geographical dispersion of the population, low consumption, high investment by consumers and high cost. Moreover, solar radiation constitutes an inexhaustible source of energy and in its conversion into electricity photovoltaic panels are used. In this study, equations were adjusted to field conditions presented by the manufacturer for current and power of small photovoltaic systems. The mathematical analysis was performed on the photovoltaic rural system I-100 from ISOFOTON, with power 300 Wp, located at the Experimental Farm Lageado of FCA/UNESP. For the development of such equations, the circuitry of photovoltaic cells has been studied to apply iterative numerical methods for the determination of electrical parameters and possible errors in the appropriate equations in the literature to reality. Therefore, a simulation of a photovoltaic panel was proposed through mathematical equations that were adjusted according to the data of local radiation. The results have presented equations that provide real answers to the user and may assist in the design of these systems, once calculated that the maximum power limit ensures a supply of energy generated. This real sizing helps establishing the possible applications of solar energy to the rural producer and informing the real possibilities of generating electricity from the sun.

Simulation of the energy performance of maize production integrated to pig farming

The study evaluated the energy performance of pig farming integrated with maize production in mechanized no-tillage system. In this proposed conception of integration, the swine excrement is used as fertilizers in the maize crop. The system was designed involving the activities associated to the pig management and maize production (soil management, cultivation and harvest). A one-year period of analysis was considered, enabling the production of three batches of pigs and two crops of maize. To evaluate the energy performance, three indicators were created: energy efficiency, use of non-renewable resources efficiency and cost of non-renewable energy to produce protein. The energy inputs are composed by the inputs and infrastructure used by the breeding of pigs and maize production, as well as the solar energy incident on the agroecosystem. The energy outputs are represented by the products (finished pigs and maize). The results obtained in the simulation indicates that the integration improves the energy performance of pig farms, with an increase in the energy efficiency (186%) as well as in the use of the non-renewable energy resources efficiency (352%), while reducing the cost of non-renewable energy to produce protein (‑58%).

Hydrological simulation using SWAT model in headwater basin in Southeast Brazil

Hydrological models are important tools that have been used in water resource planning and management. Thus, the aim of this work was to calibrate and validate in a daily time scale, the SWAT model (Soil and Water Assessment Tool) to the watershed of the Galo creek , located in Espírito Santo State. To conduct the study we used georeferenced maps of relief, soil type and use, in addition to historical daily time series of basin climate and flow. In modeling were used time series corresponding to the periods Jan 1, 1995 to Dec 31, 2000 and Jan 1, 2001 to Dec 20, 2003 for calibration and validation, respectively. Model performance evaluation was done using the Nash-Sutcliffe coefficient (E NS) and the percentage of bias (P BIAS). SWAT evaluation was also done in the simulation of the following hydrological variables: maximum and minimum annual daily flowsand minimum reference flows, Q90 and Q95, based on mean absolute error. E NS and P BIAS were, respectively, 0.65 and 7.2% and 0.70 and 14.1%, for calibration and validation, indicating a satisfactory performance for the model. SWAT adequately simulated minimum annual daily flow and the reference flows, Q90 and Q95; it was not suitable in the simulation of maximum annual daily flows.