Large Numerical Models in Continuous Hybrid Simulation

Hybrid simulation is a technique that combines experimental and numerical testing and has been used for the last decades in the fields of aerospace, civil and mechanical engineering. During this time, most of the research has focused on developing algorithms and the necessary technology, including but not limited to, error minimisation techniques, phase lag compensation and faster hydraulic cylinders. However, one of the main shortcomings in hybrid simulation that has pre- vented its widespread use is the size of the numerical models and the effect that higher frequencies may have on the stability and accuracy of the simulation. The first chapter in this document provides an overview of the hybrid simulation method and the different hybrid simulation schemes, and the corresponding time integration algorithms, that are more commonly used in this field. The scope of this thesis is presented in more detail in chapter 2: a substructure algorithm, the Substep Force Feedback (Subfeed), is adapted in order to fulfil the necessary requirements in terms of speed. The effects of more complex models on the Subfeed are also studied in detail, and the improvements made are validated experimentally. Chapters 3 and 4 detail the methodologies that have been used in order to accomplish the objectives mentioned in the previous lines, listing the different cases of study and detailing the hardware and software used to experimentally validate them. The third chapter contains a brief introduction to a project, the DFG Subshake, whose data have been used as a starting point for the developments that are shown later in this thesis. The results obtained are presented in chapters 5 and 6, with the first of them focusing on purely numerical simulations while the second of them is more oriented towards a more practical application including experimental real-time hybrid simulation tests with large numerical models. Following the discussion of the developments in this thesis is a list of hardware and software requirements that have to be met in order to apply the methods described in this document, and they can be found in chapter 7. The last chapter, chapter 8, of this thesis focuses on conclusions and achievements extracted from the results, namely: the adaptation of the hybrid simulation algorithm Subfeed to be used in conjunction with large numerical models, the study of the effect of high frequencies on the substructure algorithm and experimental real-time hybrid simulation tests with vibrating subsystems using large numerical models and shake tables. A brief discussion of possible future research activities can be found in the concluding chapter.

The unscented Utkin observer

This paper describes the integration of an Utkin observer with the unscented Kalman filter, investigates the performance of the combined observer, termed the unscented Utkin observer, and compares it with an unscented Kalman filter. Simulation tests are performed using a model of a two link manipulator. The results indicate that the unscented Utkin observer outperforms the unscented Kalman filter.

Integrating the Utkin observer with the unscented Kalman filter

This paper describes the integration of an Utkin observer with the unscented Kalman filter, investigates the performance of the combined observer, termed the unscented Utkin observer, and compares it with an unscented Kalman filter. Simulation tests are performed using a model of a single link robot arm with a revolute elastic joint rotating in a vertical plane. The results indicate that the unscented Utkin observer outperforms the unscented Kalman filter.

Melhora da estabilidade dinâmica de sistemas elétricos de potência multimáquinas usando o dispositivo facts thyristor-controlled series capacitor - TCSC

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Técnica de projeto de controlador fuzzy aplicada ao acionamento vetorial de motor de indução

Este trabalho investiga uma estratégia de controle fuzzy Takagi-Sugeno aplicada ao controle de velocidade do motor de indução. A estratégia implementa uma interpolação ponderada entre um conjunto de controladores locais previamente projetados. Ao ocorrer variações nas condições operacionais do motor de indução, os ganhos da lei de controle são ajustados automaticamente, de modo a manter satisfatório o desempenho do sistema de controle. Para o projeto do controlador fuzzy a representação em espaço de estados da planta foi considerada sob a forma de um sistema aumentado, incluindo-se uma nova variável de estado que, nesse caso, foi selecionada como sendo a integral do erro de velocidade. Tal formulação permitiu o projeto de controladores locais com a estrutura PI, através de realimentação completa de estados, com posicionamento de pólos. Como variáveis de operação para o chaveamento fuzzy dos controladores locais, foram selecionados as variáveis velocidade angular do rotor e a componente da corrente de estator responsável pelo torque elétrico do motor. Em seguida, a estabilidade do controlador fuzzy Takagi- Sugeno projetado foi comprovada através do critério de Lyapunov, para isso o problema de estabilidade foi escrito na forma de LMIs. O desempenho do controlador fuzzy Takagi-Sugeno foi avaliado através de estudos de simulação, e seus resultados comparados ao desempenho de um controlador PI convencional, para a regulação da velocidade do rotor. Os resultados obtidos nas simulações mostram que o emprego da estratégia proposta torna o sistema mais robusto a variações paramétricas no sistema de acionamento.

Influência da velocidade de circulação do leite na adesão de Pseudomonas aeruginosa sobre aço inoxidável

A influência da velocidade de circulação do leite na adesão bacteriana de Pseudomonas aeruginosa foi avaliada em teste de uso simulado por meio de um modelo de circuito de processamento de leite. O circuito é composto por uma tubulação de aço inoxidável AISI 304, com 1,9 cm de diâmetro e 5,8 m de comprimento, além de um tanque de 25 L, utilizado como reservatório do produto e das soluções sanitizantes. O reservatório foi acoplado a uma bomba centrífuga de ½ HP, para impulsionar o alimento ou soluções de higienização pelo sistema equipado com cupons de prova em aço inoxidável nas formas cilíndrica, cotovelo 90º e T. As velocidades de circulação foram de 0,5, 1,0 e 1,5 m.s^–1, correspondentes a fluxo turbulento com número de Reynolds de 14.000, 28.000 e 42.000, respectivamente. Quando se utilizou velocidade de 0,5 m.s^–1, permaneceram aderidas à superfície 10,7% das células. Já nas velocidades e 1,0 e 1,5 m.s^–1 as porcentagens de adesão foram de 5,36 e 4,9%, respectivamente, o que demonstra uma menor remoção de células aderidas à medida que o fluxo diminui, permitindo assim que mais células permaneçam aderidas na linha de produção, o que pode favorecer a formação de biofilmes.

Análise comparativa de exposição do operador à radiação entre as técnicas radial, femoral e radial com dispositivo protetor em procedimentos de cardiologia intervencionista

Pós-graduação em Fisiopatologia em Clínica Médica - FMB

Simulatore di interfaccia uomo-macchina per i controllo di UAV

Recent statistics have demonstrated that two of the most important causes of failures of the UAVs (Uninhabited Aerial Vehicle) missions are related to the low level of decisional autonomy of vehicles and to the man machine interface. Therefore, a relevant issue is to design a display/controls architecture which allows the efficient interaction between the operator and the remote vehicle and to develop a level of automation which allows the vehicle the decision about change in mission. The research presented in this paper focuses on a modular man-machine interface simulator for the UAV control, which simulates UAV missions, developed to experiment solution to this problem. The main components of the simulator are an advanced interface and a block defined automation, which comprehend an algorithm that implements the level of automation of the system. The simulator has been designed and developed following a user-centred design approach in order to take into account the operator’s needs in the communication with the vehicle. The level of automation has been developed following the supervisory control theory which says that the human became a supervisor who sends high level commands, such as part of mission, target, constraints, in then-rule, while the vehicle receives, comprehends and translates such commands into detailed action such as routes or action on the control system. In order to allow the vehicle to calculate and recalculate the safe and efficient route, in term of distance, time and fuel a 3D planning algorithm has been developed. It is based on considering UASs representative of real world systems as objects moving in a virtual environment (terrain, obstacles, and no fly zones) which replicates the airspace. Original obstacle avoidance strategies have been conceived in order to generate mission planes which are consistent with flight rules and with the vehicle performance constraints. The interface is based on a touch screen, used to send high level commands to the vehicle, and a 3D Virtual Display which provides a stereoscopic and augmented visualization of the complex scenario in which the vehicle operates. Furthermore, it is provided with an audio feedback message generator. Simulation tests have been conducted with pilot trainers to evaluate the reliability of the algorithm and the effectiveness and efficiency of the interface in supporting the operator in the supervision of an UAV mission. Results have revealed that the planning algorithm calculate very efficient routes in few seconds, an adequate level of workload is required to command the vehicle and that the 3D based interface provides the operator with a good sense of presence and enhances his awareness of the mission scenario and of the vehicle under his control.

Diversification in the South American Pampas: the genetic and morphological variation of the widespread Petunia axillaris complex (Solanaceae)

Understanding the spatiotemporal distribution of genetic variation and the ways in which this distribution is connected to the ecological context of natural populations is fundamental for understanding the nature and mode of intraspecific and, ultimately, interspecific differentiation. The Petunia axillaris complex is endemic to the grasslands of southern South America and includes three subspecies: P.a.axillaris, P.a.parodii and P.a.subandina. These subspecies are traditionally delimited based on both geography and floral morphology, although the latter is highly variable. Here, we determined the patterns of genetic (nuclear and cpDNA), morphological and ecological (bioclimatic) variation of a large number of P.axillaris populations and found that they are mostly coincident with subspecies delimitation. The nuclear data suggest that the subspecies are likely independent evolutionary units, and their morphological differences may be associated with local adaptations to diverse climatic and/or edaphic conditions and population isolation. The demographic dynamics over time estimated by skyline plot analyses showed different patterns for each subspecies in the last 100000years, which is compatible with a divergence time between 35000 and 107000years ago between P.a.axillaris and P.a.parodii, as estimated with the IMa program. Coalescent simulation tests using Approximate Bayesian Computation do not support previous suggestions of extensive gene flow between P.a.axillaris and P.a.parodii in their contact zone.

Estudio acústico del estadio "La Peineta" utilizando line arrays

El proyecto fin de carrera consiste en un estudio acústico del Estadio de la Peineta (estadio de fútbol perteneciente al club Atlético de Madrid el cual se encuentra en construcción). Se realizará el diseño por completo de una maqueta del estadio utilizando el programa EASE. Esta maqueta se hará a escala real, exactamente como se está construyendo el estadio. A dicha maqueta se le incorporarán los diferentes materiales absorbentes específicos a cada una de las superficies que compongan el estadio. Se crearán tantas zonas de audiencia como superficies se obtenga en cada grada sobre donde se realizarán dos estudios acústicos diferentes. El primer estudio se realizará con un total de 24 clústeres de altavoces los cuales están compuestos por 10 altavoces Aero 50. La colocación estratégica de cada uno de estos altavoces se estudiará con la herramienta EASE Focus 2. Una vez obtenidas las posiciones se importarán cada uno de estos clústeres de altavoces su respectiva configuración. El otro estudio se realizará con la mitad de arrays de altavoces con la intención de tener una comparativa de recubrimiento entre un estudio y otro. Las pruebas de simulación serán analizando el nivel de presión sonora que provoca cada uno de estos estudios cuando tienen sus altavoces en funcionamiento. Se utilizará el módulo de “Area mapping” para estudiar el mapeo en cada una de las zonas de audiencia definidas, así como cada una de las distribuciones por área que predominan. Se irán anotando cada uno de los problemas e ideas que van surgiendo a lo largo de dicho proyecto para proponer una continuación y mejora del mismo. Se planteará una serie de pasos e pruebas al final de la memoria ya que se trata de un proyecto sin cerrar y puede ser continuado por otra persona. ABSTRACT. The final project is an acoustic studio Peineta Stadium (soccer stadium belongs to the club Atletico Madrid which is under construction). The design is made entirely of a model of the stadium using the EASE program. This model will be full scale, exactly as is building the stadium. A model that should be incorporated into the various specific absorbent material to each of the surfaces that make up the stadium. Hearing so many areas as surfaces is obtained in each tier on which two different acoustic studies will be conducted will be created. The first study was conducted with a total of 24 speaker clusters which are composed of 10 speakers Aero 50. The strategic placement of each of these speakers will be studied with the EASE Focus 2. Once obtained tool positions are imported each these clusters of the respective speaker configuration. The other study was conducted with half speaker arrays with the intention of having a comparative study between a coating and another. Simulation tests will be analyzing the sound pressure level which causes each of these studies have their speakers when in operation. Module "mapping area" will be used to study the mapping in each of the areas defined audience, and each of the area distributions predominate. They will be written down each of the issues and ideas that arise throughout the project to propose a continuation and improvement. a series of steps and tests at the end of the memory will be raised because it is a project without closing and may be continued for another person.

Analysis of service stress corrosion cracking in a natural gas transmission pipeline, active or dormant?

Stress corrosion cracks (SCC) had been found in a natural gas transmission pipeline during a dig-up and inspection program. The question was raised as to whether the SCC was active or dormant. This paper describes the resultant investigation to determine if a particular service crack was actively growing. The strategy adopted was to assess the appearance of the fracture surface of the service crack and to compare with expectations from laboratory specimens with active SCC. The conclusions from this study are as follows. To judge whether a crack in the service pipe is active or dormant, it is reasonable to compare the very crack tip of the service crack and a fresh crack in a laboratory sample. If the crack tip of the active laboratory sample is similar to that of the service pipe, it means the crack in the service pipe is likely to be active. From the comparison of the crack tip between the service pipe and the laboratory samples, it appears likely that the cracks in the samples extracted from service were most likely to have been active intergranular stress corrosion cracks. (C) 2003 Elsevier Ltd. All rights reserved.

Isotropic compression of mixtures of hard and soft spheres

The compaction behaviour of powders with soft and hard components is of particular interest to the paint processing industry. Unfortunately, at the present time, very little is known about the internal mechanisms within such systems and therefore suitable tests are required to help in the interpretative process. The TRUBAL, Distinct Element Method (D.E.M.) program was the method of investigation used in this study. Steel (hard) and rubber (soft) particles were used in the randomly-generated, binary assemblies because they provided a sharp contrast in physical properties. For reasons of simplicity, isotropic compression of two-dimensional assemblies was also initially considered. The assemblies were first subject to quasi-static compaction, in order to define their behaviour under equilibrium conditions. The stress-strain behaviour of the assemblies under such conditions was found to be adequately described by a second-order polynomial expansion. The structural evolution of the simulation assemblies was also similar to that observed for real powder systems. Further simulation tests were carried out to investigate the effects of particle size on the compaction behaviour of the two-dimensional, binary assemblies. Later work focused on the quasi-static compaction behaviour of three-dimensional assemblies, because they represented more realistic particle systems. The compaction behaviour of the assemblies during the simulation experiments was considered in terms of percolation theory concepts, as well as more familiar macroscopic and microstructural parameters. Percolation theory, which is based on ideas from statistical physics, has been found to be useful in the interpretation of the mechanical behaviour of simple, elastic lattices. However, from the evidence of this study, percolation theory is also able to offer a useful insight into the compaction behaviour of more realistic particle assemblies.

A study of the micro-mechanics of granular media

The development of more realistic constitutive models for granular media, such as sand, requires ingredients which take into account the internal micro-mechanical response to deformation. Unfortunately, at present, very little is known about these mechanisms and therefore it is instructive to find out more about the internal nature of granular samples by conducting suitable tests. In contrast to physical testing the method of investigation used in this study employs the Distinct Element Method. This is a computer based, iterative, time-dependent technique that allows the deformation of granular assemblies to be numerically simulated. By making assumptions regarding contact stiffnesses each individual contact force can be measured and by resolution particle centroid forces can be calculated. Then by dividing particle forces by their respective mass, particle centroid velocities and displacements are obtained by numerical integration. The Distinct Element Method is incorporated into a computer program 'Ball'. This program is effectively a numerical apparatus which forms a logical housing for this method and allows data input and output, and also provides testing control. By using this numerical apparatus tests have been carried out on disc assemblies and many new interesting observations regarding the micromechanical behaviour are revealed. In order to relate the observed microscopic mechanisms of deformation to the flow of the granular system two separate approaches have been used. Firstly a constitutive model has been developed which describes the yield function, flow rule and translation rule for regular assemblies of spheres and discs when subjected to coaxial deformation. Secondly statistical analyses have been carried out using data which was extracted from the simulation tests. These analyses define and quantify granular structure and then show how the force and velocity distributions use the structure to produce the corresponding stress and strain-rate tensors.

A Luenberger state observer for stator resistance estimation in sensorless induction motor drives

The primary objective of this paper is to elimination of the problem of sensitivity to parameter variation of induction motor drive. The proposed sensorless strategy is based on an algorithm permitting a better simultaneous estimation of the rotor speed and the stator resistance including an adaptive mechanism based on the lyaponov theory. To study the reliability and the robustness of the sensorless technique to abnormal operations, some simulation tests have been performed under several cases. The proposed sensorless vector control scheme showed a good performance behavior in the transient and steady states, with an excellent disturbance rejection of the load torque. © 2013 Praise Worthy Prize S.r.l. - All rights reserved.

Direct power control with common mode voltage elimination for open-winding brushless doubly-fed wind power generators

In this paper, a new open-winding control strategy is proposed for a brushless doubly-fed reluctance generator (BDFRG) applicable for wind turbines. The BDFRG control winding is fed via a dual two-level three-phase converter using a single dc bus. Direct power control based on maximum power point tracking with common mode voltage elimination is designed, which not only the active and reactive power is decoupled, but the reliability and redundancy are all improved greatly by increasing the switching modes of operation, while DC-link voltage and rating of power devices decreased by 50% comparing to the traditional three-level converter systems. Consequently its effectiveness is evaluated by simulation tests based on a 42-kW prototype generator.