ENABLING HARDWARE TECHNOLOGIES FOR AUTONOMY IN TINY ROBOTS: CONTROL, INTEGRATION, ACTUATION

The last two decades have seen many exciting examples of tiny robots from a few cm3 to less than one cm3. Although individually limited, a large group of these robots has the potential to work cooperatively and accomplish complex tasks. Two examples from nature that exhibit this type of cooperation are ant and bee colonies. They have the potential to assist in applications like search and rescue, military scouting, infrastructure and equipment monitoring, nano-manufacture, and possibly medicine. Most of these applications require the high level of autonomy that has been demonstrated by large robotic platforms, such as the iRobot and Honda ASIMO. However, when robot size shrinks down, current approaches to achieve the necessary functions are no longer valid. This work focused on challenges associated with the electronics and fabrication. We addressed three major technical hurdles inherent to current approaches: 1) difficulty of compact integration; 2) need for real-time and power-efficient computations; 3) unavailability of commercial tiny actuators and motion mechanisms. The aim of this work was to provide enabling hardware technologies to achieve autonomy in tiny robots. We proposed a decentralized application-specific integrated circuit (ASIC) where each component is responsible for its own operation and autonomy to the greatest extent possible. The ASIC consists of electronics modules for the fundamental functions required to fulfill the desired autonomy: actuation, control, power supply, and sensing. The actuators and mechanisms could potentially be post-fabricated on the ASIC directly. This design makes for a modular architecture. The following components were shown to work in physical implementations or simulations: 1) a tunable motion controller for ultralow frequency actuation; 2) a nonvolatile memory and programming circuit to achieve automatic and one-time programming; 3) a high-voltage circuit with the highest reported breakdown voltage in standard 0.5 μm CMOS; 4) thermal actuators fabricated using CMOS compatible process; 5) a low-power mixed-signal computational architecture for robotic dynamics simulator; 6) a frequency-boost technique to achieve low jitter in ring oscillators. These contributions will be generally enabling for other systems with strict size and power constraints such as wireless sensor nodes.

Sistema de armazenamento de energia com base em baterias e no ondulador de tensão trifásico

Dissertação para obtenção do grau de Mestre em Engenharia Electrotécnica Ramo de Automação e Eletrotécnica Ramo de Automação e Eletrónica Industrial

Optimal Controller Designs for Rotating Machines - Penalising the Rate of Change of Control Forcing

In the context of active control of rotating machines, standard optimal controller methods enable a trade-off to be made between (weighted) mean-square vibrations and (weighted) mean-square currents injected into magnetic bearings. One shortcoming of such controllers is that no concern is devoted to the voltages required. In practice, the voltage available imposes a strict limitation on the maximum possible rate of change of control force (force slew rate). This paper removes the aforementioned existing shortcomings of traditional optimal control.

Transdermal delivery of cyclosporin A by electrically enhanced permeation techniques

Transdermal drug delivery has recently received increasing attention in the face of growing challenges to deliver peptide and protein drugs. Controlled transdermal delivery is an important route for the delivery of peptides and proteins that can maintain the therapeutic effectiveness of the drug by minimizing enzymatic degradation which is a major concern in other noninvasive routes of delivery such as the oral route. Although the advantages of transdermal delivery are very desirable, the natural obstacle to drug entry imposed by the skin's barrier function makes it one of the most difficult route of administration. Iontophoresis and electroporation have been reported to be useful as permeation enhancing techniques in the transdermal delivery of protein and peptide drugs. The objective of present study is to use the above enhancement techniques to deliver cyclosporin A (CSA) to treat psoriasis. The in vitro experiments were performed using hairless rat skin as the model with Franz diffusion cells for iontophoresis and custom made diffusion cells for electroporation. The donor drug solution of CSA consisted of an aqueous solution of CSA - polymer solid dispersion, coevaporate, and/or a hydroethanolic solution of CSA PBS was used as the receiver solution. ³H labelled CSA and ¹⁴C labelled ethanol were used to facilitate analysis using a liquid scintillation counter. The control experiment consisted of passive diffusion study. Silver/silver chloride electrodes were used in all studies. In the iontophoresis experiments a constant DC current (0.5 mA/cm²) was used. In the electroporation experiments different delivery parameters were studied: (1) applied electrode voltage (Uelectrode), (2) decay time constant (τ), (3) the number of pulses delivered - single or multiple, and { 4) the time of diffusive contact with drug after electroporation ('contact duration'). Compared to the passive diffusion, iontophoresis did not result in a significant increase in the amount of CSA delivered transdermally with both the CSA-polymer donor and hydroethanolic drug solutions. With the use of electroporation there was a significant increase in the transdermal delivery, compared to passive transport. With the CSA-polymer coevaporate donor solution the increase in delivery was only about 6 fold higher whereas with the hydroethanolic solution the increase was about 60 times higher compared to passive diffusion. The 'contact duration• was an important fader and a 4-hour 'contact duration' was found to be the optimum time period required for effective transdermal delivery. Use of single pulse (τ=5.6 ms) electroporation resulted in a significant increase {p<0.05) in the delivery of CSA in skin {CSA.n) and EtOH in receiver (EtOHreceiver). With multiple pulse (τ=10 ms. 25 pulses) the increase in CSAskin was more pronounced with a 60 fold increase than compared to the passive delivery. However there was no significant increase in the other two quantities viz. CSAreceiver, and EtCHreceiver.

Projeto, implementação e análise de um conversor CC-CC de alto ganho e alto rendimento para aplicações fotovoltaicas

In recent years the photovoltaic generation has had greater insertion in the energy mix of the most developed countries, growing at annual rates of over 30%. The pressure for the reduction of pollutant emissions, diversification of the energy mix and the drop in prices are the main factors driving this growth. Grid tied systems plays an important role in alleviating the energy crisis and diversification of energy sources. Among the grid tied systems, building integrated photovoltaic systems suffers from partial shading of the photovoltaic modules and consequently the energy yield is reduced. In such cases, classical forms of modules connection do not produce good results and new techniques have been developed to increase the amount of energy produced by a set of modules. In the parallel connection technique of photovoltaic modules, a high voltage gain DC-DC converter is required, which is relatively complex to build with high efficiency. The current-fed isolated converters explored in this work have some desirable characteristics for this type of application, such as: low input current ripple and input voltage ripple, high voltage gain, galvanic isolation, feature high power capacity and it achieve soft switching in a wide operating range. This study presents contributions to the study of a high gain and high efficiency DC-DC converter for use in a parallel system of photovoltaic generation, being possible the use in a microinverter or with central inverter. The main contributions of this work are: analysis of the active clamping circuit operation proposing that the clamp capacitor connection must be done on the negative node of the power supply to reduce the input current ripple and thus reduce the filter requirements; use of a voltage doubler in the output rectifier to reduce the number of components and to extend the gain of the converter; detailed study of the converter components in order to raise the efficiency; obtaining the AC equivalent model and control system design. As a result, a DC-DC converter with high gain, high efficiency and without electrolytic capacitors in the power stage was developed. In the final part of this work the DC-DC converter operation connected to an inverter is presented. Besides, the DC bus controller is designed and are implemented two maximum power point tracking algorithms. Experimental results of full system operation connected to an emulator and subsequently to a real photovoltaic module are also given.

Análisis y simulación de un rectificador trifásico controlado Active Front End (AFE)

Este artículo presenta un resultado de investigación financiado con recursos propios en el que se expone un modelo en espacio de estados de un rectificador trifásico controlado active front end. Utilizando este modelo se deriva una ley de control orientado al voltaje (VOC), enfocado en el comportamiento como carga resistiva, factor de potencia unitario, el cual es probado mediante simulación usando el Toolbox SimPowerSystem en Simulink de Matlab®.

Controle de uma microrrede ilhada baseada em geração eólica-diesel com alto nível de inserção de geração eólica

The insertion of distributed generation units in the electric power systems have contributed to the popularization of microgrid concepts. With the microgrids, several potential benefits can be achieved in regard to power quality and supply reliability. However, several technical challenges related to the control and operation of microgrids, which are associated with high insertion of generation systems based on static converters, must be overcame. Among the opportunities in the context of microgrids, there is the islanded operation of microgrids temporarily disconnected from the electric power systems and also the autonomous operation of geographically isolated microgrids. The frequency in large power systems is traditionally controlled by the generation units based on traditional synchronous generator. The insertion of distributed generation units based on static power converters may bring difficulties to the frequency control in microgrids, due to the reduction of the equivalent inertia of conventional synchronous generators present in islanded and isolated microgrids. In this context, it becomes necessary the proposition of new operational and control strategies for microgrids control, taking into account the presence of distributed generation units based on full-rated converter. This paper proposes an operational and control strategy for the islanded operation of a winddiesel microgrid with high insertion level of wind generation. The microgrid adopted in this study comprises of a wind energy conversion system with synchronous generator based on full rated converter, a diesel generator (DIG) and a dump load. Due to the high insertion level of wind generation, the wind unit operates in Vf mode and the diesel generator operates in PQ mode. The diesel generator and the dump load are used to regulate the DC-link voltage of the wind generation unit. The proposed control allows the islanded operation of the microgrid only with wind generation, wind-only mode (WO), and with wind-diesel generation, wind-diesel mode (WD). For the wind-only mode, with 100% of penetration level of wind generation, it is proposed a DC-link voltage control loop based on the use of a DC dump load. For the winddiesel mode, it is proposed a DC-link voltage control loop added to the diesel generator, which is connected to the AC side of the microgrid, in coordinated action with the dump load. The proposed operational and control strategy does not require the use of batteries and aims to maximize the energy production from wind generation, ensuring the uninterrupted operation of the microgrid. The results have showed that the operational and control strategy allowed the stable operation of the islanded microgrid and that the DC-link voltage control loop added to the diesel generator and the dump load proved to be effective during the typical variations of wind speed and load.

Nitretação iônica sem efeito de borda :desenvolvimento e avaliação de uma nova técnica

The ionic nitriding process presents some limitations related with the control of the thickness of the layer and its uniformity. Those limitations that happen during the process, are produced due to edge effects, damage caused by arcing arc and hollow cathode, mainly in pieces with complex geometry and under pressures in excess of 1 mbar. A new technique, denominated ASPN (active screen shapes nitriding) it has been used as alternative, for offering many advantages with respect to dc plasma conventional. The developed system presents a configuration in that the samples treated are surrounded by a large metal screen at high voltage cathodic potencials, (varying between 0 and 1200V) and currents up to 1 A. The sample is placed in floting potential or polarized at relatively lower bias voltages by an auxiliary source. As the plasma is not formed directly in the sample surface but in the metal screen, the mentioned effects are eliminated. This mechanism allows investigate ion of the transfer of nitrogen to the substrate. Optical and electronic microscopy are used to exam morphology and structure at the layer. X-ray difration for phase identification and microhardness to evaluate the efficiency of this process with respect to dc conventional nitriding

Real-time load-side control of electric power systems

Two trends are emerging from modern electric power systems: the growth of renewable (e.g., solar and wind) generation, and the integration of information technologies and advanced power electronics. The former introduces large, rapid, and random fluctuations in power supply, demand, frequency, and voltage, which become a major challenge for real-time operation of power systems. The latter creates a tremendous number of controllable intelligent endpoints such as smart buildings and appliances, electric vehicles, energy storage devices, and power electronic devices that can sense, compute, communicate, and actuate. Most of these endpoints are distributed on the load side of power systems, in contrast to traditional control resources such as centralized bulk generators. This thesis focuses on controlling power systems in real time, using these load side resources. Specifically, it studies two problems.

(1) Distributed load-side frequency control: We establish a mathematical framework to design distributed frequency control algorithms for flexible electric loads. In this framework, we formulate a category of optimization problems, called optimal load control (OLC), to incorporate the goals of frequency control, such as balancing power supply and demand, restoring frequency to its nominal value, restoring inter-area power flows, etc., in a way that minimizes total disutility for the loads to participate in frequency control by deviating from their nominal power usage. By exploiting distributed algorithms to solve OLC and analyzing convergence of these algorithms, we design distributed load-side controllers and prove stability of closed-loop power systems governed by these controllers. This general framework is adapted and applied to different types of power systems described by different models, or to achieve different levels of control goals under different operation scenarios. We first consider a dynamically coherent power system which can be equivalently modeled with a single synchronous machine. We then extend our framework to a multi-machine power network, where we consider primary and secondary frequency controls, linear and nonlinear power flow models, and the interactions between generator dynamics and load control.

(2) Two-timescale voltage control: The voltage of a power distribution system must be maintained closely around its nominal value in real time, even in the presence of highly volatile power supply or demand. For this purpose, we jointly control two types of reactive power sources: a capacitor operating at a slow timescale, and a power electronic device, such as a smart inverter or a D-STATCOM, operating at a fast timescale. Their control actions are solved from optimal power flow problems at two timescales. Specifically, the slow-timescale problem is a chance-constrained optimization, which minimizes power loss and regulates the voltage at the current time instant while limiting the probability of future voltage violations due to stochastic changes in power supply or demand. This control framework forms the basis of an optimal sizing problem, which determines the installation capacities of the control devices by minimizing the sum of power loss and capital cost. We develop computationally efficient heuristics to solve the optimal sizing problem and implement real-time control. Numerical experiments show that the proposed sizing and control schemes significantly improve the reliability of voltage control with a moderate increase in cost.

REALIZATION OF A DC MICROGRID USING A HAMILTONIAN BASED CONTROLS SOLUTION

Future power grids are envisioned to be serviced by heterogeneous arrangements of renewable energy sources. Due to their stochastic nature, energy storage distribution and management are pivotal in realizing microgrids serviced heavily by renewable energy assets. Identifying the required response characteristics to meet the operational requirements of a power grid are of great importance and must be illuminated in order to discern optimal hardware topologies. Hamiltonian Surface Shaping and Power Flow Control (HSSPFC) presents the tools to identify such characteristics. By using energy storage as actuation within the closed loop controller, the response requirements may be identified while providing a decoupled controller solution. A DC microgrid servicing a fixed RC load through source and bus level storage managed by HSSPFC was realized in hardware. A procedure was developed to calibrate the DC microgrid architecture of this work to the reduced order model used by the HSSPFC law. Storage requirements were examined through simulation and experimental testing. Bandwidth contributions between feed forward and PI components of the HSSPFC law are illuminated and suggest the need for well-known system losses to prevent the need for additional overhead in storage allocations. The following work outlines the steps taken in realizing a DC microgrid and presents design considerations for system calibration and storage requirements per the closed loop controls for future DC microgrids.

Design Optimization of Modern Machine-drive Systems for Maximum Fault Tolerant and Optimal Operation

Modern electric machine drives, particularly three phase permanent magnet machine drive systems represent an indispensable part of high power density products. Such products include; hybrid electric vehicles, large propulsion systems, and automation products. Reliability and cost of these products are directly related to the reliability and cost of these systems. The compatibility of the electric machine and its drive system for optimal cost and operation has been a large challenge in industrial applications. The main objective of this dissertation is to find a design and control scheme for the best compromise between the reliability and optimality of the electric machine-drive system. The effort presented here is motivated by the need to find new techniques to connect the design and control of electric machines and drive systems. A highly accurate and computationally efficient modeling process was developed to monitor the magnetic, thermal, and electrical aspects of the electric machine in its operational environments. The modeling process was also utilized in the design process in form finite element based optimization process. It was also used in hardware in the loop finite element based optimization process. The modeling process was later employed in the design of a very accurate and highly efficient physics-based customized observers that are required for the fault diagnosis as well the sensorless rotor position estimation. Two test setups with different ratings and topologies were numerically and experimentally tested to verify the effectiveness of the proposed techniques. The modeling process was also employed in the real-time demagnetization control of the machine. Various real-time scenarios were successfully verified. It was shown that this process gives the potential to optimally redefine the assumptions in sizing the permanent magnets of the machine and DC bus voltage of the drive for the worst operating conditions. The mathematical development and stability criteria of the physics-based modeling of the machine, design optimization, and the physics-based fault diagnosis and the physics-based sensorless technique are described in detail. To investigate the performance of the developed design test-bed, software and hardware setups were constructed first. Several topologies of the permanent magnet machine were optimized inside the optimization test-bed. To investigate the performance of the developed sensorless control, a test-bed including a 0.25 (kW) surface mounted permanent magnet synchronous machine example was created. The verification of the proposed technique in a range from medium to very low speed, effectively show the intelligent design capability of the proposed system. Additionally, to investigate the performance of the developed fault diagnosis system, a test-bed including a 0.8 (kW) surface mounted permanent magnet synchronous machine example with trapezoidal back electromotive force was created. The results verify the use of the proposed technique under dynamic eccentricity, DC bus voltage variations, and harmonic loading condition make the system an ideal case for propulsion systems.

Hybrid power system intelligent operation and protection involving plug-in electric vehicles

Two key solutions to reduce the greenhouse gas emissions and increase the overall energy efficiency are to maximize the utilization of renewable energy resources (RERs) to generate energy for load consumption and to shift to low or zero emission plug-in electric vehicles (PEVs) for transportation. The present U.S. aging and overburdened power grid infrastructure is under a tremendous pressure to handle the issues involved in penetration of RERS and PEVs. The future power grid should be designed with for the effective utilization of distributed RERs and distributed generations to intelligently respond to varying customer demand including PEVs with high level of security, stability and reliability. This dissertation develops and verifies such a hybrid AC-DC power system. The system will operate in a distributed manner incorporating multiple components in both AC and DC styles and work in both grid-connected and islanding modes. ^ The verification was performed on a laboratory-based hybrid AC-DC power system testbed as hardware/software platform. In this system, RERs emulators together with their maximum power point tracking technology and power electronics converters were designed to test different energy harvesting algorithms. The Energy storage devices including lithium-ion batteries and ultra-capacitors were used to optimize the performance of the hybrid power system. A lithium-ion battery smart energy management system with thermal and state of charge self-balancing was proposed to protect the energy storage system. A grid connected DC PEVs parking garage emulator, with five lithium-ion batteries was also designed with the smart charging functions that can emulate the future vehicle-to-grid (V2G), vehicle-to-vehicle (V2V) and vehicle-to-house (V2H) services. This includes grid voltage and frequency regulations, spinning reserves, micro grid islanding detection and energy resource support. ^ The results show successful integration of the developed techniques for control and energy management of future hybrid AC-DC power systems with high penetration of RERs and PEVs.^

Demanda y control de la tarea y presencia de síntomas de estrés y osteo-musculares en personal de una institución hospitalaria de IV nivel, Bogotá, 2016.

El ejercicio de labores asistenciales en el personal de la salud, las largas horas de trabajo y la responsabilidad en la ejecución de sus tareas, llevan consigo la exposición a riesgos psicosociales; que de no ser debidamente controlados pueden llevar al individuo a generar respuestas inadecuadas a nivel cognitivo, emocional e intelectual, las cuales se manifiestan en algunos casos con la aparición de sintomatología osteomuscular y/o asociada al estrés. OBJETIVO Identificar la relación entre las demandas de la tarea, el control sobre las mismas y la presencia e intensidad de síntomas de estrés y osteo-musculares en médicos, especialistas y personal de enfermería de una institución hospitalaria de IV nivel en Bogotá. Métodos Estudio de corte transversal en una muestra de 100 profesionales de la salud. Se utilizaron tres instrumentos: cuestionario Nórdico para la detección y análisis de síntomas músculo esqueléticos, cuestionario Karasek para identificar la percepción del trabajo y la relación del entorno profesional y el cuestionario de Estrés del Ministerio de la Protección Social validado para la población colombiana. Se obtuvo previa autorización del Comité de Investigaciones y Comité de Ética del Hospital. El análisis estadístico se realizó con el IBM SPSS Statistics versión 2.0 Resultados Se observó que los síntomas osteomusculares con mayor prevalencia estuvieron relacionados con afectaciones en espalda 43% y cuello 36%; no se observan diferencias estadísticamente significativas entre los distintos profesionales. En cuanto a presencia de sintomatología asociada al estrés, la mayor prevalencia se presentó en síntomas osteomusculares en cuello y espalda en el 84% de los casos, dolor de cabeza en el 74%, trastornos del sueño y cansancio en el 64% y percepción de sobrecarga laboral en el 63%. Para el análisis de prevalencia de los factores psicosociales laborales se utilizó la clasificación de la combinación de altas o bajas demandas y alto o bajo control, el resultado de estos teniendo en cuenta el modelo Demanda-control fue la siguiente: trabajo de alta tensión 34%; trabajo activo 40%; trabajo aburrido 13% y trabajo pasivo 13%. Se encontró una asociación entre la sintomatología y las variables toma de decisiones en médicos especialistas (OR 3,12; IC 95%: 2,80 – 3,49) lo que ratifica que este tipo de profesional tiene una mayor libertad para generar decisiones en su actuar médico y control sobre la tarea para especialistas (OR 3,23; IC 95%: 2,82 – 3,70) y enfermeros jefes (OR 3,36; IC 95%: 2,91 – 3,89); lo que permite inferir que cada uno de estos profesionales posee las herramientas para asumir las exigencias y dar respuesta a los distintos aspectos que están ligados a la tarea. Conclusiones: La presencia de síntomas osteo musculares en zonas como cuello y espalda son propios de la actividad del personal de la salud y se asocia a las posturas inadecuadas y el puesto de trabajo, así como al estrés. En cuanto a la sintomatología asociada al estrés se ratifica la presencia de sintomatología osteo muscular (cuello y espalda), como manifestaciones asociadas al cansancio, trastornos del sueño, sobrecarga laboral, dolor de cabeza y en menor porcentaje dificultades para relacionarse con otros. Respecto a los factores de riesgo psicosocial, se observó que el trabajo activo es la condición predominante en el personal de la salud, pero se observa además que un porcentaje importante experimenta episodios de tensión laboral, asociados a condiciones propias de las demandas psicológicas y el control sobre la tarea. Por lo anterior, se deben establecer acciones encaminadas a favorecer espacios saludables, y programas tendientes a la mejora de las condiciones de tal manera que disminuya la presencia de sintomatología osteomuscular y/o sintomatología derivada del estrés.

Simulation by discrete mass modeling of offshore wind turbine system with DC link

This paper presents an integrated model for an offshore wind turbine taking into consideration a contribution for the marine wave and wind speed with perturbations influences on the power quality of current injected into the electric grid. The paper deals with the simulation of one floating offshore wind turbine equipped with a permanent magnet synchronous generator, and a two-level converter connected to an onshore electric grid. The use of discrete mass modeling is accessed in order to reveal by computing the total harmonic distortion on how the perturbations of the captured energy are attenuated at the electric grid injection point. Two torque actions are considered for the three-mass modeling, the aerodynamic on the flexible part and on the rigid part of the blades. Also, a torque due to the influence of marine waves in deep water is considered. Proportional integral fractional-order control supports the control strategy. A comparison between the drive train models is presented.