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This research formulates and implements a novel closed-loop optimal control system that drives a train between two stations in an optimal time, energy efficient, or mixed objective manner. The optimal controller uses sensor feedback from the train and in real-time computes the most efficient control decision for the train to follow given knowledge of the track profile ahead of the train, speed restrictions and required arrival time windows. The control problem is solved both on an open track and while safely driving no closer than a fixed distance behind another locomotive. In contrast to other research in the field, this thesis achieves a real-time capable and embeddable closed-loop optimization with advanced modeling and numerical solving techniques with a non-linear optimal control problem. This controller is first formulated as a non-convex control problem and then converted to an advanced convex second-order cone problem with the intent of using a simple numerical solver, ensuring global optimality, and improving control robustness. Convex and non-convex numerical methods of solving the control problem are investigated and closed-loop performance results with a simulated vehicle are presented under realistic modeling conditions on advanced tracks both on desktop and embedded computer architectures. It is observed that the controller is capable of robust vehicle driving in cases both with and without modeling uncertainty. The benefits of pairing the optimal controller with a parameter estimator are demonstrated for cases where very large mismatches exists between the controller model and the simulated vehicle. Stopping performance is consistently within 25cm of target stations, and the worst case closed-loop optimization time was within 100ms for the computation of a 1000 point control horizon on an i7-6700 machine. / Thesis / Master of Applied Science (MASc) / This research formulates and implements a novel closed-loop optimal control system that drives a train between two stations in an optimal time, energy efficient, or mixed objective manner. It is deployed on a commuter vehicle and directly manages the motoring and braking systems. The optimal controller uses sensor feedback from the train and in real-time computes the most efficient control decision for the train to follow given knowledge of the track profile ahead of the train, speed restrictions and required arrival time windows. The final control implementation is capable of safe, high accuracy and optimal driving all while computing fast enough to reliably deploy on a rail vehicle.

La plupart des patients infectés par le VIH ont une charge virale qui peut être rendue indétectable par des combinaisons antirétrovirales hautement actives (cART); cependant, il existe des effets secondaires aux traitements. L'utilisation des modèles mécanistes dynamiques basés sur des équations différentielles ordinaires (ODE) a considérablement amélioré les connaissances de la dynamique HIV-système immunitaire et permet d'envisager une personnalisation du traitement. L'objectif de ces travaux de thèse est d'améliorer les techniques statistiques d'estimation de paramètres dans les modèles mécanistes dynamiques afin de proposer des stratégies de surveillance et d'optimisation des traitements. Après avoir introduit NIMROD un algorithme d'estimation bayésienne basé sur une maximisation de la vraisemblance pénalisée, nous montrons la puissance des approches mécanistes dynamiques pour l'évaluation des effets traitements par rapport aux méthodes descriptives d'analyse des trajectoires des biomarqueurs. Puis, nous définissons le « modèle à cellules cibles », un système ODE décrivant la dynamique du VIH et des CD4. Nous montrons qu'il possède de bonnes capacités prédictives. Nous proposons une preuve de concept de la possibilité de contrôler individuellement la dose de traitement. Cette stratégie adaptative réajuste la dose du patient en fonction de sa réaction à la dose précédente par une procédure bayésienne. Pour finir, nous introduisons la possibilité de l’'individualisation des changements de cART. Ce travail passe par la quantification in vivo d'effets de cART en utilisant des indicateurs d'activité antivirale in vitro. Nous discutons la validité des résultats et les étapes méthodologiques nécessaires pour l'intégration de ces méthodes dans les pratiques cliniques. / Most HIV-infected patients viral loads can be made undetectable by highly active combination of antiretroviral therapy (cART), but there are side effects of treatments. The use of dynamic mechanistic models based on ordinary differential equations (ODE) has greatly improved the knowledge of the dynamics of HIV and of the immune system and can be considered for personalization of treatment. The aim of these PhD works is to improve the statistical techniques for estimating parameters in dynamic mechanistic models so as to elaborate strategies for monitoring and optimizing treatments. We present an algorithm and program called NIMROD using Bayesian inference based on the maximization of the penalized likelihood. Then, we show the power of dynamic mechanistic approaches for the evaluation of treatment effects compared to methods based on the descriptive analysis of the biomarkers trajectories. Next, we build the “target cells model “, an ODE system of the dynamics between the HIV and CD4. We demonstrate it has good predictive capabilities. We build a proof of concept for drug dose individualization. It consists in tuning the dose of the patient based on his reaction to the previous doses using a Bayesian update procedure. Finally, we introduce the possibility of designing an individualized change of cART. This work involves the quantification of in vivo effects of cART using in vitro antiviral activity indicators. We discuss the validity of the results and the further steps needed for the integration of these methods in clinical practice.

Cette thèse est dédiée à la conception optimale de la machine synchrone à rotor bobiné modulaire sans balais pour les systèmes embarqués. Cette machine est basée sur une structure POKIPOKITM développée par Mitsubishi Electric Coopération avec les convertisseurs de puissance intégrée pour augmenter la capacité de tolérance aux défauts. L'analyse électromagnétique est utilisée pour étudier les différentes machines synchrones à rotor bobiné et donc, pour sélectionner la structure qui offre la meilleure tolérance aux défauts et les performances les plus élevées. D’abord, le choix des nombres de phases, d’encoches et de pôles est un point critique. Ensuite, quelques machines sont analysées et comparées selon les critères tels que la densité de couple, le rendement, l'ondulation de couple. La machine avec 7 phases, 7 encoches et 6 pôles est alors choisie. Cette machine est ensuite comparée à la machine synchrone à aimant permanent monté en surface. Le résultat démontre que la machine synchrone à rotor bobiné modulaire sans balais possède le potentiel de remplacer la machine synchrone à aimant permanent dans notre application parce qu’elle présente des performances similaires avec une capacité de tolérance aux défauts élevée. Dans un second temps, une fois la structure 7phases/7encoches/6pôles choisie, cette machine est optimisée en utilisant NOMAD (qui est un logiciel d'optimisation de boîte noire) afin de minimiser le volume externe sous les contraintes électromagnétiques, thermiques et mécaniques. Comme ce problème d'optimisation est extrêmement difficile à résoudre, quelques relaxations ont été effectuées pour tester les différents algorithmes d'optimisation : fmincon (de Matlab) et NOMAD. Nous remarquons que NOMAD est plus efficace que fmincon pour trouver des solutions à ce problème de conception où certaines contraintes sont calculées par des simulations numériques (ANSYS Maxwell ; code éléments finis). En utilisant la méthode NOMAD basée sur l’algorithme Mesh Adaptive Direct Search, nous obtenons des résultats optimaux qui satisfont toutes les contraintes proposées. Il est nécessaire de valider ce design optimisé en vérifiant toutes les contraintes par des simulations électromagnétiques et thermiques en 3D. Les résultats montrent que le couple moyen obtenu par la simulation en 3D est inférieur à la valeur souhaitée. Par conséquent, en augmentant la longueur de la machine, une nouvelle machine corrigée est ainsi obtenue. Nous observons que les pertes de fer obtenues en 3D sont plus élevées qu'en 2D en raison du flux de fuite dans la tête de bobinage. En prenant les valeurs des pertes analysées par la simulation en 3D, la température de surface de la nouvelle machine analysée par la méthode Computational Fluid Dynamics est plus élevée que celle calculée dans l’optimisation. Enfin, un prototype de machine est construit et quelques tests expérimentaux est réalisés. Le résultat montre que la force électromotrice à vide a une forme d'onde similaire par rapport à la prédiction numérique en 3D et la différence de couple statique maximum entre les tests expérimentaux et les simulations par éléments finis en 3D est faible. / This thesis is dedicated to the design and the optimization of modular brushless wound rotor synchronous machine for embedded systems. This machine is constructed based on POKIPOKITM structure with integrated drive electronics. Finite element analysis based optimization becomes more popular in the field of electrical machine design because analytical equations are not easily formalized for the machines which have complicate structures. Using electromagnetic analysis to comparatively study different modular brushless wound rotor synchronous machines and therefore, to select the structure which offers the best fault tolerant capability and the highest output performances. Firstly, the fundamental winding factor calculated by using the method based on voltage phasors is considered as a significant criterion in order to select the numbers of phases, stator slots and poles. After that, 2D finite element numerical simulations are carried out for a set of 15 machines to analyze their performances. The simulation results are then compared to find an appropriate machine according to torque density, torque ripple and machine efficiency. The 7phase/7-slot/6-pole machine is chosen and compared with a reference design surfacemounted permanent magnet synchronous machine in order to evaluate the interesting performance features of the wound rotor synchronous machine. In the second design stage, this machine is optimized by using derivative-free optimization. The objective is to minimize external volume under electromagnetic, thermal and mechanical constraints. Given that an accurate finite element analysis for machine performance takes a long time. Moreover, considering that the average torque can be obtained by simulating the model with only four rotor positions instead of one electric period, optimization strategy is proposed to reduce computational time and therefore, obtain a fast convergence ability by defining relaxed problems which enable minimizing the external volume of the machine under only several constraints such as average torque, torque ripple and copper losses. By testing relaxed problems, two different optimization methods (NOMAD and fmincon) are compared in order to select an appropriate method for our optimization problem. Using NOMAD method based on Mesh Adaptive Direct Search, we achieve optimal results which satisfy all of the constraints proposed. In the third design stage, all constraints are validated by 3D electromagnetic and thermal simulations using finite element and computational fluid dynamics methods. The 3D results show that the average torque obtained is lower than the desired value. By increasing the length of the machine, a new corrected machine is thus obtained. It can be observed that the iron losses obtained in 3D are higher than that in 2D due to the leakage flux in the end-winding. Then, the machine temperature is analyzed by using ANSYS Fluent. Note that the surface temperature is higher than that calculated in the optimization and the coil temperature is 8.48°C higher than the desired value (105°C). However, some dissipation by the shaft and the bearings of the machine are expected to reduce the machine temperature. Finally, a machine prototype is built and some experimental tests are carried out. The results show that the electromotive force has a similar waveform compared to 3D prediction and the difference of the measured and predicted maximum static torques is small.

Made available in DSpace on 2016-08-17T14:53:21Z (GMT). No. of bitstreams: 1 Sergio Augusto.pdf: 2350058 bytes, checksum: 7c3c67925b0b27a77105c3cb0799c4e6 (MD5) Previous issue date: 2012-05-04 / Conselho Nacional de Desenvolvimento Científico e Tecnológico / This work provides a framework to obtain the optimal bidding strategy for a GENCO in long-term electricity auction. The tool is based on intelligent techniques for optimizing the proposed Utility Function. The goal is to find the optimal strategy that maximizes the expected payoff of GENCO and simultaneously minimize the risks. The risks are modeled by two classical metrics: the Variance (Portfolio Theory) and Value at Risk (VaR). The proposed methodology is applied to auctions for long-term forward contracts, such that used in the Brazilian power system for buying and selling energy in the regulated market. The Bidding Strategy is formed through a Supply Curve which relates the optimal amount of energy to different offer prices. Thus, it allows the GENCO define the best bid (offer) for a given offer price. The proposed approach is validated for three test cases: First, concerning the variation of generation and price of energy scenarios for evaluation of the bidding strategy and the GENCOS risk perception; The second, consider a cascade hydro-term system for evaluation of MRE; and The third, considers the northeastern Brazilian subsystem where the supply curve is formed for the CHESF company's power plants portfolio. The results show how the offer may be changed according the variation of the spot prices and physical generation and demonstrate the efficacy of meta-heuristics proposed to optimize the supply model. / Este trabalho apresenta uma ferramenta de auxílio e suporte à tomada de decisões na formação de estratégias de oferta para agentes geradores (GENCOS) participantes de leilões de eletricidade de longo-prazo. A ferramenta é baseada em técnicas inteligentes para a otimização da Função de Utilidade proposta média-risco . O objetivo é encontrar a Estratégia Ótima que maximize o retorno esperado da GENCO e, simultaneamente, minimize os riscos relacionados às incertezas no montante de energia produzida e no preço spot, modelados por duas métricas clássicas de risco: a Variância (teoria dos portfólios) e o Valor em Risco (VaR). A abordagem proposta é aplicada ao mercado brasileiro de eletricidade, especificamente, ao ambiente de Leilões de Energia Existente na categoria Quantidade de Energia, tais quais os leilões aplicados pelo órgão regulador brasileiro para compra e venda de energia no mercado regulado. Sugere-se aqui a formação de uma Curva de Oferta que relacione a quantidade de energia ótima para diferentes preços de oferta. E, deste modo, permita a GENCO definir qual o melhor lance (oferta) para dado preço de oferta durante o processo do leilão. Para a avaliação da abordagem foram utilizados três casos testes: O primeiro considera cenários de geração física e preço de energia a fim de avaliar a estratégia de oferta e a percepção ao risco de contratação da GENCO quanto à variação de tais cenários; o segundo, considera um sistema em cascata onde é possível observar o efeito do Mecanismo de Realocação de Energia (MRE) sobre a oferta das GENCOS; e o terceiro considera o subsistema nordeste brasileiro onde a curva de oferta é formada para o portfólio de usinas pertencentes à empresa CHESF. Os resultados demonstram como a oferta de energia pode ser alterada de acordo com cenários de oferta gerados e comprovam a eficiência da meta-heurística proposta para otimização do modelo de oferta.

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The importance of cooperative relaying communication in substituting for, or complementing, multiantenna systems is described, and a brief literature review is presented. Amplify-and-forward (AF) and decode-and-forward (DF) relaying are investigated and compared for a dual-hop relay channel. The optimal strategy, source and relay optimal power allocation, and maximum cooperative gain are determined for the relay channel. It is shown that while DF relaying is preferable to AF relaying for strong source-relay links, AF relaying leads to more gain for strong source-destination or relay-destination links. Superimposed and selection AF relaying are investigated for multirelay, dual-hop relaying. Selection AF relaying is shown to be globally strictly outage suboptimal. A necessary condition for the selection AF outage optimality, and an upper bound on the probability of this optimality are obtained. A near-optimal power allocation scheme is derived for superimposed AF relaying. The maximum instantaneous rates, outage probabilities, and average capacities of multirelay, dual-hop relaying schemes are obtained for superimposed, selection, and orthogonal DF relaying, each with parallel channel cooperation (PCC) or repetition-based cooperation (RC). It is observed that the PCC over RC gain can be as much as 4 dB for the outage probabilities and 8.5 dB for the average capacities. Increasing the number of relays deteriorates the capacity performance of orthogonal relaying, but improves the performances of the other schemes. The application of rateless codes to DF relaying networks is studied by investigating three single-relay protocols, one of which is new, and three novel, low complexity multirelay protocols for dual-hop networks. The maximum rate and minimum energy per bit and per symbol are derived for the single-relay protocols under a peak power and an average power constraint. The long-term average rate and energy per bit, and relay-to-source usage ratio (RSUR), a new performance measure, are evaluated for the single-relay and multirelay protocols. The new single-relay protocol is the most energy efficient single-relay scheme in most cases. All the multirelay protocols exhibit near-optimal rate performances, but are vastly different in the RSUR. Several future research directions for fixed-rate and rateless coded cooperative systems, and frameworks for comparing these systems, are suggested. / Communications

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