Submitted by Renata Lopes (renatasil82@gmail.com) on 2016-04-11T14:02:57Z No. of bitstreams: 1 joseantoniochiabaibento.pdf: 931983 bytes, checksum: e18793314d0e558922ed90cb19474dbb (MD5) / Approved for entry into archive by Adriana Oliveira (adriana.oliveira@ufjf.edu.br) on 2016-04-24T03:37:26Z (GMT) No. of bitstreams: 1 joseantoniochiabaibento.pdf: 931983 bytes, checksum: e18793314d0e558922ed90cb19474dbb (MD5) / Made available in DSpace on 2016-04-24T03:37:26Z (GMT). No. of bitstreams: 1 joseantoniochiabaibento.pdf: 931983 bytes, checksum: e18793314d0e558922ed90cb19474dbb (MD5) Previous issue date: 2013-02-27 / CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / A penetração de parques eólicos nos sistemas elétricos de potência tem apresentado um grande crescimento no Brasil e no mundo devido à disponibilidade da matéria prima, os ventos, e à necessidade de reformulação das matrizes energéticas a fim de reduzir os impactos ambientais decorrentes da geração de energia elétrica. Porém, as usinas eólicas apresentam variações nos despachos de potência devido à variabilidade de velocidade dos ventos. Estas variações causam impactos no sistema, podendo afetar a confiabilidade e a estabilidade de tensão. Além disto, a operação de determinados tipos de aerogeradores requer suporte adicional de potência reativa. Uma opção para aumentar as margens operativas e acomodar as intermitências de regime dos ventos em sistemas elétricos de potência consiste na utilização de compensadores estáticos de reativos (CER) junto às usinas eólicas. Estes equipamentos FACTS (Flexible AC Transmission Systems) provêm suporte de potência reativa variável e de rápido controle, de acordo com os requisitos operacionais dos aerogeradores. Neste sentido, o presente trabalho apresenta uma metodologia para ajuste ótimo dos parâmetros do CER visando dar suporte de potência reativa para a operação de usinas eólicas em sistemas elétricos de potência. Para representar as intermitências no despacho de potência dos aerogeradores, a metodologia proposta considera diferentes cenários de vento. O problema é modelado através de fluxo de potência ótimo (FPO), associado à técnica de decomposição matemática de Benders. Os parâmetros de ajuste do CER são a tensão de referência e o coeficiente de inclinação da curva característica deste equipamento em regime permanente. Destaca-se que o ajuste ótimo deste coeficiente é inédito na literatura especializada. Testes com sistemas do IEEE são realizados para validar a metodologia proposta. / The penetration of wind farms in power systems has shown tremendous growth in Brazil and in the world due to the availability of the raw material, the wind, and the need to redefine the energy mix to reduce the environmental impacts from the electrical energy generation. However, the wind farms have variable outputs due to the variation of wind speeds. These outputs impact the power system and can affect the reliability and the voltage stability. Besides, the operation of some aerogenerators requires additional support of reactive power. An option for handling this feature and increasing the operative margins of power systems is the use of static VAr compensators (SVC) together with the wind farms. These FACTS devices (Flexible AC Transmission Systems) provide a variable reactive power support, with a fast control according to the operational requirements of the aerogenerators. In this sense, this work presents a methodology for the optimal adjustment of the SVC parameters to give reactive power support for wind farms operating in power systems. The proposed methodology considers different wind scenarios to represent the variations of the wind farms outputs. The problem is modeled through an optimal power flow (OPF) and the Benders decomposition technique. The SVC parameters for adjustment are its reference voltage and the coefficient of its characteristic curve in stable state. It can be highlighted that the adjustment of this coefficient is innovative for the literature. Tests with systems of the IEEE are performed to validate the proposed methodology.

No description available.

Thesis name: Scuba diving equipment, systems of equipment organization and their comparison Thesis aim: To draw out historical information, to describe diving equipment and its function. To process individual systems of diving equipment's orders and to describe pro-and- cons of each of those systems. Method: Studying of accessible sources. Content analysis of technical literature and other sources. Retrieval of equipment's technical parametres. Analysis and processing of information. Results: The outcome is evaluation of different systems of diving equipment's orders. Comparison and recommendation of suitability for different kinds of scuba diving with equipment. Keywords: Diving equipment, systems of diving equipment's orders, buoyancy compensator, configuration, scuba diving with equipment

We are living in an age where the demand for energy is growing rapidly. This means that supplies to easily accessible oil and natural gas is unlikely to keep up with the demand as times goes on. The world will have to use energy more efficiently and increase its use of other sources of energy. This study is aiming at developing materials that will improve the power conversion efficiency of photovoltaic cells by using up and down-converting phosphor materials. ZnTiO3-Zn2TiO4 composite and ZnTiO3 phosphors doped with Er3+,Yb3+, Eu3+ and Al3+, which display up and down-converted luminescence were synthesized by a simple high temperature conventional solid state reaction method. The structure, particle morphology, absorption, photoluminescent properties and elemental distribution were analyzed using X-ray diffraction (XRD), scanning electron microscopy (SEM), UV-Vis-NIR absorption spectrometer, photoluminescence (PL) spectroscopy and time of flight secondary ion mass spectroscopy (TOF-SIMS), respectively. ZnTiO3-Zn2TiO4 composite doped with different concentration of Er3+ ions was synthesized via solid state chemical reaction method at 1100 ℃. The X-ray diffraction (XRD) confirmed the crystallization of both the hexagonal ZnTiO3 and cubic spinel Zn2TiO4 phases of the composite. The SEM images of ZnTiO3-Zn2TiO4:Er3+ composite showed that the particle morphology was made up of faceted hexagons. Furthermore, the ZnTiO3-Zn2TiO4:Er3+ phosphors were excited in the near-infrared (NIR) region using a laser diode with a wavelength of 980 nm and displayed both green and red up-conversion emission bands in the visible range at 543, 553, 650 – 670 nm. These emission bands correspond to 2H11/2, 4S1/2→ 4 I15/2 and 4F9/2→ 4 I15/2 transitions of Er3+ ions. However, the interaction mechanisms involved in the upconversion process of ZnTiO3-Zn2TiO4:Er3+ phosphor is discussed with the help of an energylevel schematic diagram and the number of the photons involved in the up-conversion luminescence process were of a double photon mechanism. The decay lifetimes were studied by fitting the luminescence decay curve with a single-component exponential decay. Er3+ and Yb3+ incorporated zinc titanate (ZnTiO3) phosphor powders were synthesized using conventional solid-state reaction method at 800 ℃. A ZnTiO3:Er3+,Yb3+ phosphor that resembled an ecandrewsite single phase with space group R-3 (148) was obtained, as proven by X-ray diffraction (XRD). The SEM image showed a surface morphology composed of agglomerated irregular shaped particles. The energy band gap of ZnTiO3 was engineered by incorporating different concentration of the dopant ions. After irradiating ZnTiO3:Er3+with a 980 nm laser beam, the phosphor up-converted the photon energy to display green and red emissions in the visible range that were positioned at 527, 545 and 665 nm. Enhancement of the luminescence intensity of ZnTiO3:Er3+ phosphor was achieved by variation of Er3+ concentration. Co-doping with Yb3+ ions proved to be effective in enhancing the luminescence intensity of the optimized Er3+ ion emission and new emission bands at 410 and 480 nm, through an energy transfer mechanism were observed. The enhancement of the lifetime of the up-conversion luminescence was also achieved by co-doping ZnTiO3:Er3+ phosphor with Yb3+ ion. The energy transfer mechanisms involved in Er3+ - Yb3+ co-doped ZnTiO3 phosphor was illustrated and discussed in detail. The ZnTiO3:Er3+, Yb3+ thin films were successfully deposited by pulsed laser deposition (PLD) by varying the silicon (100) substrate temperature. The distribution of the ions in the films was investigated and the TOF-SIMS showed that the ions were homogeneously distributed throughout the ZnTiO3 host lattice which indicated a successful incorporation of the Er3+ and Yb3+ ions. The optical response of the phosphors revealed that the reflectance percentages of the ZnTiO3:Er3+, Yb3+ vary with the silicon substrate temperature due to the differences in the thickness and morphological roughness of the thin films. The ZnTiO3:Er3+, Yb3+ thin films also exhibited up-conversion emission from Er3+ electronic transitions, with violet, blue, green and red emission lines at 410, 480, 525, 545 and 660 nm from 2H9/2 → 4 I15/2, 4F7/2 → 4 I15/2, 2H11/2 → 4 I15/2, 4S3/2 → 4 I15/2 and 4F9/2 → 4 I15/2 transitions, respectively. These up-conversion emissions were enhanced by increasing the silicon substrate temperature during the deposition. ZnTiO3 host co-doped with Eu3+ and Al3+ was synthesized by solid state reaction to convert the UV photons to visible photons. Charge compensation effects of Al3+ incorporated ZnTiO3:Eu3+ as a co-dopant ion was reported in detail. The structural and morphological characterization show that the addition of Eu3+ and Al3+ does not affect the phase formation and the surface morphology of the host. The visible emission intensity of Eu3+ ions for an optimal concentration of 2 mol% under 395 nm excitation, was enhanced by incorporating Al3+. The energy level diagram showing the charge compensation mechanism was proposed for the co-doped system. / College of Engineering, Science and Technology

Robot arms require actuators that are powerful, precise and safe. The safety concern is amplified when these robots work closely with people in collaborative applications. This thesis investigates the design and implementation of hybrid pneumatic-electric actuators (HPEA) for use in robot arms, particularly those intended for collaborative applications. The initial focus was on improving the control of an existing single HPEA-driven rotary joint. The torque is produced by four pneumatic cylinders connected in parallel with a small DC motor. The DC motor is directly connected to the output shaft. A cascaded control system is designed that consists of an outer position control loop and an inner pressure control loop. The pressure controller is based on a novel inverse valve model. High precision position tracking control is achieved due to the combination of the model-based pressure controller, model-based position controller, adaptive friction compensator and offline payload estimator. Experiments are performed with the actuator prototype rotating a link and payload with a rotational inertia equivalent to a linear actuator moving a 573 kg mass. Averaged over five tests, a root-mean-square error of 0.024° and a steady-state error (SSE) of 0.0045° are achieved for a fast multi-cycloidal trajectory. This SSE is almost ten times smaller than the best value reported for previous HPEAs. An offline payload estimation algorithm is used to improve the control system’s robustness. The superior safety of the HPEA is shown by modeling and simulating a constrained robot-head impact, and comparing the result with equivalent electric and pneumatic actuators. This research produced two journal papers. Since HPEAs are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators, the effect of using optimization-based input allocation for HPEAs was studied. The goal was to improve the HPEA’s performance by distributing the required input (force or torque) between the redundant actuators in accordance with each actuator’s advantages and limitations. Three novel model-predictive control (MPC) approaches are designed to solve the position tracking and input allocation problems using convex optimization. The approaches are simulated on a HPEA-driven system and compared to a conventional linear controller without active input allocation. The first MPC approach uses a model that includes the dynamics of the payload and pneumatics; and performs the motion control using a single loop. The latter methods simplify the MPC law by separating the position and pressure controllers. Although the linear controller is the most computationally efficient, it is inferior to the MPC-based controllers in position tracking and force allocation performance. The third MPC-based controller design demonstrated the best position tracking with root mean square errors of 46%, 20%, and 55% smaller than the other three approaches. It also demonstrated sufficient speed for real-time operation. This research produced one journal paper. The research continued with the design and implementation of a two degree-of-freedom HPEA-driven arm. A HPEA-driven “elbow” joint is designed and added to the existing “shoulder” joint. The force from a single pneumatic cylinder is converted into torque using a 4-bar linkage. To eliminate backlash and keep the weight of the arm low, a 2nd smaller DC motor is directly connected to the joint. The kinematic and kinetic models of the new arm, as well as the geometry of the new elbow joint are studied. The resulting joint design is implemented, tested and controlled. This joint could achieve a SSE of 0.0045° in spite of its nonlinear joint geometry. The arm is experimentally tested for simultaneous tracking control of the two joints, and for end-effector position tracking in Cartesian space. The end-effector is able to follow a circular trajectory in pneumatic mode with position errors below 0.005 m. / Thesis / Doctor of Philosophy (PhD) / Robots that work with, or near, humans require greater safety considerations than other robots. A significant concern is collisions between the robot and humans that may happen when sensors or software fails. An actuator for robots that combines the inherent safety of pneumatic actuators with the accuracy of electric actuators, termed a “hybrid pneumatic electric actuator” (HPEA), is investigated. The design, instrumentation, modelling, and control of HPEAs are studied theoretically and experimentally. The proposed actuator could achieve high position control accuracy in a variety of experiments, with steady state error of less than 0.0045 degrees. Simulated impacts with a human head also showed that a HPEA-driven robot arm can achieve a 52% lower impact force, compared to an arm driven by conventional electric actuators. The HPEA design and control experiments are performed on a single HPEA-driven joint and extended to an arm consisting of two HPEA-driven revolute joints.

No description available.

No description available.

The aim of this research is to calibrate conductive polymer nanocomposite materials for large strain sensing and develop a structural health monitoring algorithm for gossamer structures by using nanocomposites as strain sensors. Any health monitoring system works on the principle of sensing the response (strain, acceleration etc.) of the structure to an external excitation and analyzing the response to find out the location and the extent of the damage in the structure. A sensor network, a mathematical model of the structure, and a damage detection algorithm are necessary components of a structural health monitoring system. In normal operating conditions, a gossamer structure can experience normal strain as high as 50%. But presently available sensors can measure strain up to 10% only, as traditional strain sensor materials do not show low elastic modulus and high electrical conductivity simultaneously. Conductive polymer nanocomposite which can be stretched like rubber (up to 200%) and has high electrical conductivity (sheet resistance 100 Ohm/sq.) can be a possible large strain sensor material. But these materials show hysteresis and relaxation in the variation of electrical properties with mechanical strain. It makes the calibration of these materials difficult. We have carried out experiments on conductive polymer nanocomposite sensors to study the variation of electrical resistance with time dependent strain. Two mathematical models, based on the modified fractional calculus and the Preisach approaches, have been developed to model the variation of electrical resistance with strain in a conductive polymer. After that, a compensator based on a modified Preisach model has been developed. The compensator removes the effect of hysteresis and relaxation from the output (electrical resistance) obtained from the conductive polymer nanocomposite sensor. This helps in calibrating the material for its use in large strain sensing. Efficiency of both the mathematical models and the compensator has been shown by comparison of their results with the experimental data. A prestressed square membrane has been considered as an example structure for structural health monitoring. Finite element analysis using ABAQUS has been carried out to determine the response of the membrane to an uniform transverse dynamic pressure for different damage conditions. A neuro-fuzzy system has been designed to solve the inverse problem of detecting damages in the structure from the strain history sensed at different points of the structure by a sensor that may have a significant hysteresis. Damage feature index vector determined by wavelet analysis of the strain history at different points of the structure are taken by the neuro-fuzzy system as input. The neuro-fuzzy system detects the location and extent of the damage from the damage feature index vector by using some fuzzy rules. Rules associated with the fuzzy system are determined by a neural network training algorithm using a training dataset, containing a set of known input and output (damage feature index vectors, location and extent of damage for different damage conditions). This model is validated by using the sets of input-output other than those which were used to train the neural network. / Ph. D.

Bakgrunden till detta projekt är att Vattenfall Eldistribution AB (nedan kallat Vattenfall) kommer att införa ett avgiftssystem för inmatning av reaktiv effekt till sitt elnät. Avgiften införs till följd av problem på elnätet som orsakas av reaktiv effekt. Umeå Energi Elnät AB (nedan kallat Umeå Energi) har historiskt matat in reaktiv effekt vilket motiverade detta arbete som utreder den reaktiva effekten på Umeå Energis elnät samt bidrar med information om två alternativa tillvägagångssätt att bemöta avgiften. Alternativ 0 är att kompensationsutrustning inte installeras, utan att ett abonnemang på inmatning av reaktiv effekt upprättas. Alternativ 1 är att kompensationsutrustning installeras. För att utreda den reaktiva effekten erhölls och behandlades data på reaktiv effekt i Umeå Energis nät. Historisk kondensatordrift togs fram för år 2016 ur händelsehistoriken hos Umeå Energis driftcentral. Kondensatordriften år 2015 kunde enbart erhållas från ett tidigare arbete på Umeå Energi eftersom ett begränsat antal händelser lagras i händelsehistoriken. Genom att subtrahera kondensatorernas produktion från den reaktiva effekten i Umeå Energis anslutningspunkter som uppmätts av Vattenfall erhölls data som mer representerade underliggande fenomen på nätet. Utan kondensatordrift beräknades inmatningen enligt Vattenfalls definition uppgå till cirka 34 MVAr utifrån data från 2015 och 2016. För åren 2018 till och med 2023 beräknades ändringar i reaktiv effekt till följd av förändringar på Umeå Energis nät. Vid beräkningarna försummades ledningarnas induktiva karaktär, vilket gav ett tomgångsscenario med maximal produktion av reaktiv effekt. År 2023 beräknades inmatningen ska ha ökat till 59 MVAr till följd av förändringar på Umeå Energis nät. Med antagandet att Umeå Energi inte kommer att drifta kondensatorbatterierna så att inmatningen höjs föreslogs för alternativ 0 val av abonnemang på inmatning av reaktiv effekt för åren 2018 till och med 2023 utifrån de 34 MVAr som nämnts ovan och inverkan från förändringarna på nätet. År 2019 föreslogs ett abonnemang på 41 MVAr, och 2023 föreslogs ett på 59 MVAr. Kostnaderna för dessa beräknades enligt Vattenfalls tariff till 820 000 kr respektive 1 187 000 kr. Kostnaden för eventuell överinmatning av reaktiv effekt beräknades med tariffen för överinmatning årligen uppgå till maximalt 76 000 kr med 95 % sannolikhet enligt den korrigerade standardavvikelsen hos inmatningen utan kondensatordrift åren 2015 och 2016. Optimal kondensatordrift beräknades för åren 2015 och 2016 genom att addera den produktion av reaktiv effekt från befintliga kondensatorbatterier som gav minst absolutvärde i reaktiv effekt. Beroende på hur ofta kondensatordriften justerades erhölls olika resultat. En undersökning av störningar till följd av kondensatorkopplingar rekommenderas för att få en förståelse för förutsättningarna för optimal kondensatordrift. Det bedömdes inte ekonomiskt motiverbart med mer avancerad kompensationsteknik såsom statiska VAr-kompensatorer då variabla reaktorer kan kompensera dygns- och säsongsvariationer i reaktiv effekt. Den reaktiva effektproduktionen i ledningar är störst på 145 kV-nivån och kommer öka i framtiden på denna nivå. Det är därför sannolikt här kompensationsutrustning såsom reaktorer först bör installeras. För att kunna ta så bra beslut som möjligt angående den reaktiva effekten rekommenderas att snarast möjligt ingå ett arbetssätt som om avgiftssystemet redan tagits i bruk och utöka ett representativt dataunderlag. / The background of this project is that Vattenfall Eldistribution AB (hereinafter referred to as Vattenfall) will establish a system of fees for input of reactive power. This will be done due to problems in the grid caused by reactive power. Umeå Energi Elnät AB (hereinafter referred to as Umeå Energi) has historically input reactive power, motivating this work which investigates the reactive power in the grid of Umeå Energi and provides information on two alternative approaches to responding to the fee. Alternative 0 entails no installation of compensation technology, and that a subscription for reactive power input is established instead. Alternative 1 entails that compensation technology is installed. To investigate the reactive power, data on reactive power in the grid of Umeå Energi were obtained and processed. Historical operations of capacitor banks for the year 2016 were obtained from the history of events of the control center at Umeå Energi. The operations of the capacitor banks during 2015 could only be obtained from an earlier work at Umeå Energi since the number of events stored in the history is limited. By subtracting the capacitor banks’ production from the reactive power measured by Vattenfall in the connections of Umeå Energi, data more representative of underlying phenomena were obtained. Without capacitor production of reactive power, the input was calculated according to the definition of Vattenfall to about 34 MVAr, by using data from 2015 and 2016. For the years 2018 through 2023, changes in reactive power due to changes in the grid of Umeå Energi were calculated. These calculations did not consider inductances, and thus yielded zero-load scenarios with maximum reactive power production. By the year of 2023, the input was calculated to have increased to 59 MVAr due to changes in the grid of Umeå Energi. Assuming that Umeå Energi will not operate the capacitors so that the input is increased, for alternative 0 subscriptions for input of reactive power were suggested for the years 2018 through 2023 by considering the abovementioned 34 MVAr and the changes in the grid. Subscriptions of 41 MVAr and 59 MVAr were suggested for the years 2019 and 2023 respectively. The costs of these were calculated with the fee specified by Vattenfall to SEK 820,000 and SEK 1,187,000 respectively. Calculations with the applicable fee yielded that the yearly cost of possible over-input could amount to a maximum of SEK 76,000 with a 95 % probability, using the corrected standard deviation of the input without capacitor production of reactive power for the years 2015 and 2016. Optimal capacitor bank operations were calculated for the years 2015 and 2016 by adding the production of reactive power from existing capacitor banks which yielded the minimum absolute reactive power. Depending on how often the capacitors were operated different results were obtained. An investigation of power quality disturbances due to capacitor bank operations is recommended to achieve an understanding of the conditions for optimal capacitor bank operations. It was not deemed economically justifiable to install more advanced compensation technologies such as static VAr compensators since variable reactors are able to compensate daily and seasonal variations in reactive power. The production of reactive power in cables is the largest on the 145 kV level and will increase in the future on this level. It is therefore likely here compensation technologies such as reactors should be installed first. To be able to make as good decisions as possible concerning the reactive power, it is recommended to as soon as possible commence a working method as if the fee system had already come into effect; thus increasing the amount of representative data.

Orientador: Michael John Brennan / Resumo: Vazamentos em tubulações de água enterradas são considerados um importante problema já que uma grande quantidade de água é desperdiçada entre a planta de tratamento e os consumidores. Para lidar com tal problema, companhias de saneamento utilizam dispostivos para localizar vazamentos nas tubulações. Dispositivos de escuta e correlacionadores de ruídos são os equipamentos mais utilizados em campo pelas companhias de sanemaneto ao redor do mundo. Correlacionadores de ruídos são dispositivos usados na localização de vazamentos em tubulações enterradas através da estimativa do tempo de atraso entre os sinais medidos pelos sensores posicionados em ambos os lados de um suposto vazamento. Uma vez que as companhias de saneamento devem decidir qual tipo de correlacionador é o mais compatível com a sua rede de tubulações, elas devem realizar alguns testes para ajudar em tal decisão e para treinar os funcionários que operam estes dispositivos, os quais devem ser expostos a diferentes condições, tais como tubos de diferentes materiais e geometrias, diferentes tipos de solo, vazamentos com diferentes intensidades, etc. Neste contexto, o principal objetivo desta pesquisa é contribuir com esta necessidade através da elaboração de um dispositivo de bancada capaz de reproduzir as vibrações de um tubo causadas por um vazamento. O dispositivo, chamado de simulador virtual de vazamentos, é composto por um computador, um amplificador de potência com dois canais e dois shakers. Ruídos de vazamento... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Leakage in buried water pipes is an important problem since a large amount of water is wasted between the treatment plant and the consumers. To deal with such a problem, water companies have used some devices to localize leaks in the pipe network. Listening devices and leak noise correlators are the most popular equipment used in the field by the water companies around the world. Leak noise correlators are important devices used to localize leaks in buried pipes by calculating the time delay between the signals measured by the sensors positioned either side of a suspected leak. Since water companies have to decide which leak noise correlator is more suitable for each pipe network, they have to carry out some field tests to assist in this decision and to train the personnel that handles such a device, which ideally must be exposed to different conditions, such as pipes with different materials and geometries, different types of soil, different leak strengths, etc. The main objective of this research project is to contribute with the necessity of the water companies by designing an indoor bench-top device capable to reproduce the pipe vibrations generated by a leak in the field. The device, called virtual pipe test rig, comprises a computer and a dual-channel power amplifier supplying two shakers. In the computer, leak noise is synthesized by using a model of a buried leaking pipe implemented using the software Matlab®. Since the systems, composed by the power amplifiers and th... (Complete abstract click electronic access below) / Mestre