In robotic rehabilitation therapies, knowledge of human joint torques is important for patient safety, to provide a reliable data for clinical assessment and to increase control performance of the device, nevertheless, its measurement can be complex or have a highcost implementation. The most of techniques for torque estimation have been developed for upper limb robotic rehabilitation devices, in addition, they typically require detailed anthropometric and musculoskeletal models. In this dissertation is presented the ankle torque estimation for the Anklebot robot, the estimation uses an ankle/Anklebot dynamic model that consider the ankle joint angular displacement and velocity measurement, its mechanical impedance parameters are obtained through a second-order modeled mechanical impedance of the ankle and an identification of frictional and gravitational torques. Three approaches for the ankle torque estimation were proposed to be implemented in the Anklebot robot, the Generalized Momentum, the Kalman filter and finally a combination of both the above mentioned approaches. The validation of such approaches was developed first on a physical mockup configured to reproduce the human ankle joint movement, by assessing its performances, the Kalman filter approach was selected to be implemented on a voluntary subject. A set of experiments were performed considering the physical activity that the subject may realize when interacting with the Anklebot, the developed ankle torque estimation proved to be successful for passive torque and in most of the proposed scenarios where active torque is performed. / Em terapias de reabilitação robótica, o conhecimento dos torques da articulação humana é importante para a segurança do paciente, para fornecer dados confiáveis na avaliação clínica e aumentar o desempenho de controle do dispositivo, no entanto, sua medição pode ser complexa ou costoso de implementar. A maioria das técnicas de estimativa de torque tem sido desenvolvidas para dispositivos de reabilitação robótica de membros superiores, além disso, eles normalmente requerem modelos antropométricos e musculoesqueléticos detalhados. Nesta dissertação é apresentada a estimativa do torque do tornozelo no robô Anklebot, a estimação utiliza um modelo dinâmico tornozelo + Anklebot o qual considera a medição da posição e velocidade angular do tornozelo, os parametros de impedancia mecânica do tornozelo são obtidos por meio de um modelo simples de segunda ordem e são identificados os torques gravitacionais e de atrito. Três abordagens para a estimativa de torque de tornozelo foram propostas para serem implementadas, o momento generalizado, o filtro de Kalman e, finalmente, uma abordagem que combina tanto o momento generalizado e o filtro de Kalman. A validação de tais abordagens foi desenvolvida primeiro em um mock-up físico configurado para reproduzir o movimento articular do tornozelo humano, avaliando seus desempenhos. A segunda abordagem proposta foi selecionada para ser implementada em um usuário voluntário. Um conjunto de experimentos foi realizado considerando a atividade física que o sujeito pode realizar ao interagir com o Anklebot, a estimativa desenvolvida de torque de tornozelo demostrou ser bem sucedida para o torque passivo e na maioria dos cenários propostos onde o torque ativo é realizado.

Improving the climate system of cars is important since it is the largest auxiliary load in a standard vehicle with an increase of fuel consumption by up to 20%. In Electric Vehicles (EV) the range of the car is more limited than in a fossil fueled car; furthermore there is a limited waste heat available from the EV, approximately 2-3kW at 40oC for heating and defogging in winter. The goals of this report have been part of an existing European project (ICE) where the climate system of an electric minibus is being investigated. The specific objectives of this project were to develop a radiation model and integrate it in the existing thermal model of the cabin, validating the new model with existing experimental data, including the thermal model in the overall model of the complete vehicle and to use the existing AC-model to optimize the control with the aim of decreasing the energy consumption maintaining thermal comfort inside the cabin. The radiation model uses total radiation on a horizontal surface in order to calculate the radiation hitting the different parts of the car body and windows, finally the total radiative power entering the minibus is calculated. After including these calculations into the thermal model it could be seen that the results from the model in terms of cabin temperatures fit the experimental values surprisingly well. The control of the AC-system was optimized for a hot and sunny summer day in Italy which resulted in the AC-system working very hard following that the best control strategy was to reduce only the speed of the compressor in order to save energy. Calculations show that in the Normal European Driving Cycle (NEDC) the potential energy savings of following this control strategy can result in an energy saving of the AC-system by up to 27% compared to an unregulated case, with a maintained thermal comfort resulting in 4,2% increase in autonomy.

<p>Predmet istraživanja načelno se odnosi na razmatranje koncepta dvostrukih ventilisanih fasada (DVF) i njihov uticaj na energetsku efikasnost objekta. Ovaj koncept predstavlja jedan od primera adaptivnih fasada. Plan istraživanja zasnovan je na eksperimentalnom radu (na realnom objektu) i na numeričkim simulacijama modela objekta. Rezultati eksperimentalnog dela istraživanja pokazuju na koji način zavise termičke osobine objekta sa DVF od trenutnih meteorolo&scaron;kih uslova. Takođe, ovi rezultati poslužili su za fino pode&scaron;avanje modela i za postizanje &scaron;to vernije slike realnog objekta. Kriterijum prihvatljivosti, kada je model potvrđen, definisani su sa preporučenim statističkim indikatorima. Na taj način, formiran model u daljoj analizi je kori&scaron;ćen za definisanje sezonskih operativnih strategija. Rezultati simulacija za sve predložene operativne strategije, ocenjuju kakav je njihov uticaj na potro&scaron;nju energije za grejanje i klimatizaciju posmatranog objekta. Poređenjem sa modelima objekta sa tradicionalnom fasadom, pokazana je opravdanost primene koncepta DVF u klimatskim uslovima Beograda.</p> / <p>Research generally refers to the consideration of the concept of a double skin facades (DSF) and their impact on energy efficiency of the building. This concept is an example of adaptive facades. The research plan is based on experimental work and on the numerical model simulation. The results of experimental research works show how energy characteristics of the object with the DSF depend of current meteorological conditions. Also, these results were used to fine-tune the model to achieve as closely as possible the real presentation of the real building. The criterion of eligibility, when the model is verified, are defined with the recommended statistical indicators. Validated model in further analysis is used to define seasonal operational strategies. The simulation results for all proposed operational strategies, assess what is their impact on the building energy consumption for heating and air-conditioning. Compared to the models with a traditional facade, analysis show justification for the application of the concept of DSF in the climatic conditions of Belgrade.</p>

La qualité de la puissance injectée au réseau électrique est une problématique importante pour le développement des énergies marines renouvelables, et en particulier de l'énergie des vagues, ou énergie houlomotrice. En effet la puissance produite par les systèmes houlomoteurs à entrainement direct est très fluctuante (fluctuations de l'ordre de la seconde) à cause de la nature oscillante de la ressource. Afin d'étudier l'impact de l'intégration des ces systèmes sur les réseaux électriques, un modèle permettant de représenter la chaîne depuis la vague jusqu'au réseau électrique a été développé. Les simulations effectuées à l'aide de ce modèle pour différents types de réseau électrique et différents états de mer ont montré que la mise en place de solutions pour améliorer la qualité de la puissance produite était nécessaire. Ainsi l'effet du regroupement et de la dispersion spatiale des systèmes houlomoteurs sur la qualité de la puissance a été étudiée. L'insertion d'un système de stockage dans la chaîne wave-to-wire afin de lisser la puissance a aussi été considérée. Enfin, une partie du modèle a pu être validée à l'aide d'un banc de test Hardware-in-the-loop comprenant un banc moteur, des armoires de puissance pour émuler électronique de puissance et le réseau électrique et un module de supercondensateurs. / Power quality is an important issue for the development of marine renewable energies, in particular wave energy. Due to the oscillatory nature of the oceans waves, the wave energy converters output power profile can present fluctuations in the range of seconds. The impact of these devices on the electric grid therefore needs to be investigated for wave farms to be connected to the grid. In order to emulate an operating direct drive wave energy converter, study power quality improvement and test different control strategies, a wave-to-wiremodel has been developed.Simulations carried out with this model for different grid strengths and different levels of sea-state showed that it is necessary to foster solutions to improve power quality. Thus, the wave energy converters aggregating and dispersion effects on power quality have been investigated. As it does not seem sufficient to meet the grid codes requirements, another solution have been considered, consisting of the insertion of an energy storage system into the chain. Finally, a part of the model has been validated using a hardware-in-the-Loop test bench including a motorbench, power modules to emulate the grid and power electronic's control and super capacitors module.

Examining methods for controlling the electricity demand in Kuwait was the main objective and motivation of this researchp roject. The extensiveu se of air-conditioning for indoor cooling in office and large commercial buildings in Kuwait and the Gulf States represents a major part of the power and electricity consumption in such countries. The rising electricity generation cost and growing rates of consumption continuously demand the construction new power plants. Devising and enforcing Demand-SideM anagemen(t DSM) in the form of energye fficient operations trategies was the response of this research project to provide a means to rectify this situation using the demand-side management technique known as demand levelling or load shifting. State of the art demand-sidem anagementte chniquesh ave been examined through the developmenot f a model basedp redictive control optimisations trategyf or an integrateda ndm odulara pproachto the provisiono f ice thermals torage. To evaluate the potential of ice-storage assisted air-conditioning systems in flattening the demand curve at peak times during the summer months in Kuwait, a model of a Heating, Ventilation, and Air-conditioning (HVAC) plant was developed in Matlab. The model engaged the use of model based predictive control (MPQ as an optimisation tool for the plant as a whole. The model with MPC was developed to chose and decide on which control strategy to operate the integrated ice-storage HVAC plant. The model succeeded in optimising the operation of the plant and introduced encouraging improvement of the performance of the system as a whole. The concept of the modular ice-storage system was introduced through a control zoning strategy based on zonal orientation. It is believed that such strategy could lead to the modularisation of ice-storage systems. Additionally, the model was examined and tested in relation to load flattening and demonstrated promising enhancement in the shape of the load curve and demonstrated flattened demand curves through the employed strategy. When compared with measured data from existing buildings, the model showed potential for the techniques utilised to improve the load factor for office buildings.

Until recently, organic particulate material was simply classified as either primary or secondary with the primary component being treated in models as nonvolatile and inert. This framework is used to simulate the organic aerosol formation, growth and composition in the eastern United States during the four seasons of the year. The model predictions are evaluated against daily average PM2.5 (particulate matter smaller than 2.5 μm) measurements taken throughout the eastern United States by the Interagency Monitoring of Protected Visual Environments (IMPROVE) and the Speciation Trends Network (STN) monitoring networks. The performance of the model in reproducing organic mass concentrations is average during all four seasons of the year. The agreement between the predicted and observed temporal profiles suggests a reasonable understanding and depiction in the model of the corresponding processes. However, this oversimplified view fails to explain the observed highly oxygenated nature of ambient organic aerosols (OA), the relatively small OA concentration gradients between large urban areas and their surroundings, and the concentrations of OA during periods of high photochemical activity. To address the above issues new primary and secondary organic aerosol modules have been added to a three dimensional chemical transport model (PMCAMx) based on recent smog chamber studies. The new modeling framework is based on the volatility basis-set approach: both primary and secondary organic components are assumed to be semivolatile and photochemically reactive and are distributed in logarithmically spaced volatility bins. The resulting PMCAMx-2008 was applied in Mexico City Metropolitan Area (MCMA) for approximately a week during April of 2003. The model predictions are compared with Aerosol Mass Spectrometry (AMS) observations and their Positive Matrix Factorization (PMF) analysis. The final goal of this work is to provide information to the policy makers regarding the response of fine PM to emission controls. PMCAMx is used to investigate changes in PM2.5 concentrations in response to 50% emissions changes of oxides of nitrogen and anthropogenic volatile organic compounds during July 2001 and January 2002 in the Eastern United States. / Τα ατμοσφαιρικά οργανικά σωματίδια συνηθίζεται να χωρίζονται σε δυο κατηγορίες: πρωτογενή και δευτερογενή. Τα πρώτα εκπέμπονται κατευθείαν στην ατμόσφαιρα ενώ τα δευτερογενή δημιουργούνται με την μεταφορά μάζας αερίων χαμηλής πτητικότητας, που προκύπτουν από την οξείδωση πρωτογενών οργανικών αερίων, στα ατμοσφαιρικά σωματίδια. Ένα τρισδιάστατο χημικό μοντέλο (PMCAMx), βασιζόμενο σε αυτό το διαχωρισμό, χρησιμοποιήθηκε για την προσομοίωση της σύνθεσης και της μάζας των οργανικών σωματιδίων της ατμόσφαιρας, στις ανατολικές Ηνωμένες Πολιτείες της Αμερικής κατά τη διάρκεια των τεσσάρων εποχών του χρόνου. Οι προβλέψεις του μοντέλου αξιολογήθηκαν έναντι μετρήσεων που πραγματοποιήθηκαν από τα δίκτυα παρακολούθησης IMPROVE και STN στις ανατολικές ΗΠΑ. Η απόδοση του μοντέλου, όσον αφορά τον προσδιορισμό της συγκέντρωσης των οργανικών ενώσεων κατά τη διάρκεια όλων των εποχών είναι ιδιαίτερα ικανοποιητική. Ωστόσο, αν και οι προβλέψεις του μοντέλου για τη συγκέντρωση της οργανικής μάζας είναι ενθαρρυντικές, δεν είναι ξεκάθαρο εάν το μοντέλο προβλέπει τις σωστές τιμές για τους σωστούς λόγους. Συγκεκριμένα το μοντέλο δεν μπορεί να εξηγήσει την πολύ οξυγονωμένη χημική μορφή των ατμοσφαιρικών οργανικών σωματιδίων όπως αυτή αποτυπώθηκε σε μετρήσεις πεδίου. Για να αντιμετωπιστούν τα ανωτέρω ζητήματα αναπτύσσουμε μια νέα μέθοδο προσομοίωσης των διεργασιών σχηματισμού και χημικής γήρανσης των πρωτογενών και δευτερογενών οργανικών σωματιδίων της ατμόσφαιρας, στο τρισδιάστατο χημικό μοντέλο PMCAMx βασιζόμενοι σε πρόσφατα πειραματικά δεδομένα. Στο νέο αυτό πλαίσιο μοντελοποίησης τόσο τα πρωτογενή, όσο και τα δευτερογενή οργανικά συστατικά θεωρούνται ότι είναι ημιπτητικά και φωτοχημικά ενεργά και κατανέμονται λογαριθμικά σε ομάδες ενώσεων διαφορετικής πτητικότητας. Το βελτιωμένο PMCAMx (PMCAMx-2008) έχει εφαρμοστεί στην ευρύτερη περιοχή της πόλης του Μεξικού για περίπου μια βδομάδα τον Απρίλιο του 2003. Οι προβλέψεις του μοντέλου συγκρίνονται με μετρήσεις φασματογράφου μάζας αεροζόλ και άλλες μετρήσεις που πραγματοποιήθηκαν κατά τη διάρκεια της καμπάνιας MCMA-2003. Τέλος το PMCAMx έχει χρησιμοποιηθεί για να μελετηθούν διεξοδικά οι αλλαγές στη συγκέντρωση των οργανικών σωματιδίων διαμέτρου έως 2.5 μm που προκύπτουν από αλλαγές των εκπομπών NOx και VOCs κατά τη διάρκεια των μηνών του Ιουλίου 2001 και του Ιανουαρίου 2002 στις ανατολικές Ηνωμένες Πολιτείες της Αμερικής.

Les travaux menés durant cette thèse s'intéressent principalement aux avantages que peut offrir la machine asynchrone à double alimentation (MADA) dans un système de propulsion navale. Ceci est obtenu à travers les degrés de libertés additionnels qu'elle apporte, d'une part, par l'exploitation de la redondance structurelle naturelle, et d'autre part , par les stratégies de contrôle qui lui sont appliquées. La première partie de ce mémoire, présente la modélisation du propulseur innovant. Ce dernier est conçu principalement autour de la MADA comme moteur de propulsion. Il est alimenté par deux onduleurs de tension à Modulation de Largeur d'Impulsion (MLI), et entrainant une hélice à trois pales fixes et symétriques. Plusieurs stratégies de commande ont été introduites pour piloter le système. En effet, des lois de contrôle de type linéaires et non linéaires, associées à des divers modulateurs MLI ont été validées et appliquées à cette structure de propulsion. L'innovation apportée dans le cadre de ces travaux consiste à associer à l'optimisation par conception (machine et convertisseurs d'alimentation), une optimisation par la commande et ce en évaluant l'influence de ces techniques pour deux critères de dimensionnement majeurs, à savoir, les pertes dans les convertisseurs de puissances, et les bruits acoustiques et vibratoires. La propulsion navale, comme tout système embarqué, possède des exigences en matière de qualité de service non seulement en termes de performances mais aussi de fiabilité et de disponibilité. En effet, les systèmes conçus pour ce type d'application doivent assurer et garantir une continuité de service en cas d'apparition de défauts au sein des constituants du système. L'utilisation de la MADA dans les systèmes de propulsion offre une redondance structurelle naturelle et analytique, introduite par la commande, qui permet d'assurer une continuité de service du système en présence d'une défaillance dans la structure. Deux défauts sont ainsi considérés dans cette étude, un défaut de semi-conducteur de puissance dans le convertisseur de puissance et un défaut de capteur vitesse/position. Les stratégies de contrôle proposées, les modèles de propulseur établis ainsi que les reconfigurations adoptées suite aux défauts ont été validées expérimentalement sur les bancs développés au LAPLACE dans le cadre de ces travaux. / This study focuses on the benefits that can be induced by the use of the Double Fed Induction Machine (DFIM) operating in motor mode for marine propulsion systems. It can be achieved by the additional degree of freedom it provides, firstly, by exploiting the natural structural redundancy, and secondly, by the alytical redundancy introduced by applied control strategies. The first part of this thesis presents the modeling of a propeller architected mainly around the DFIM and its load such as a propeller with three fixed and symmetrical blades. Several control strategies have been introduced to control the system, in fact, linear and nonlinear control laws type associated with various modulators have been validated and applied to the propulsion structure. The objective was to evaluate the influence of these techniques for two major design criteria, namely, losses in power converters, and noise and vibration noise. Naval propulsion as any embedded system has requirements for the quality of service not only in performance but also reliability and availability. Indeed, the systems designed for these types of applications must ensure and guarantee continuity of service in response to the failures in system components. The use of MADA in propulsion systems provides a natural structural and analytical redundancies which ensure system service continuity in the presence of a fault in this structure. Two faults are considered in this study, a power semiconductor fault in the power converter and a speed sensor / position failure. Control strategies proposed, the propeller modeling established and reconfigurations adopted following settings have been validated by simulation and experimentally on the real laboratory or industrial benches developed in the context of this study.

Examining methods for controlling the electricity demand in Kuwait was the main objective and motivation of this researchp roject. The extensiveu se of air-conditioning for indoor cooling in office and large commercial buildings in Kuwait and the Gulf States represents a major part of the power and electricity consumption in such countries. The rising electricity generation cost and growing rates of consumption continuously demand the construction new power plants. Devising and enforcing Demand-SideM anagemen(t DSM) in the form of energye fficient operations trategies was the response of this research project to provide a means to rectify this situation using the demand-side management technique known as demand levelling or load shifting. State of the art demand-sidem anagementte chniquesh ave been examined through the developmenot f a model basedp redictive control optimisations trategyf or an integrateda ndm odulara pproachto the provisiono f ice thermals torage. To evaluate the potential of ice-storage assisted air-conditioning systems in flattening the demand curve at peak times during the summer months in Kuwait, a model of a Heating, Ventilation, and Air-conditioning (HVAC) plant was developed in Matlab. The model engaged the use of model based predictive control (MPQ) as an optimisation tool for the plant as a whole. The model with MPC was developed to chose and decide on which control strategy to operate the integrated ice-storage HVAC plant. The model succeeded in optimising the operation of the plant and introduced encouraging improvement of the performance of the system as a whole. The concept of the modular ice-storage system was introduced through a control zoning strategy based on zonal orientation. It is believed that such strategy could lead to the modularisation of ice-storage systems. Additionally, the model was examined and tested in relation to load flattening and demonstrated promising enhancement in the shape of the load curve and demonstrated flattened demand curves through the employed strategy. When compared with measured data from existing buildings, the model showed potential for the techniques utilised to improve the load factor for office buildings.

Le « Power-to-Gas » pourrait devenir une solution attractive pour le stockage des énergies renouvelables, pourvu que des électrolyseurs soient capables de fonctionner efficacement dans des conditions intermittentes à un coût abordable. Ce travail a pour objectif d'évaluer la faisabilité technique du fonctionnement intermittent de systèmes d'électrolyse à oxyde solide (SOEC) autour de 1073 K. Des conditions réalistes défavorables sont considérées, consistant en un système autonome sans source externe de chaleur et intégrant une compression d'hydrogène à 3 MPa. La problématique se compose de deux aspects : i) la gamme de fonctionnement du système, limitée à 60-100% en raison de gradients thermiques, est étendue via des stratégies de contrôle efficaces, ii) des procédures sont définies pour minimiser l'impact de l'intermittence sur la durée de vie. Premièrement, une stratégie de contrôle modulaire est proposée, consistant en l'utilisation de plusieurs unités indépendantes qui fonctionnent dans une gamme de puissance tolérable, ou sont arrêtées. La gamme de fonctionnement du système est ainsi étendue à 15-100% dans le cas de quatre unités. Une stratégie de contrôle complémentaire, consistant en un chauffage électrique interne, permet d'étendre la gamme de fonctionnement en réduisant les gradients thermiques, mais elle est susceptible de diminuer la durée de vie. Elle n'est donc appliquée qu'à une unité afin de suivre la courbe de charge et d'étendre la gamme de fonctionnement du système à 3-100%. Deuxièmement, 1800 cycles électriques on-off sont appliqués à une SOEC sans impact sur la dégradation, ce qui montre que des arrêts/démarrages répétés ne diminuent pas la durée de vie. De plus, des procédures de démarrage, standby et arrêt sont définies. Enfin, deux études de systèmes Eolien-SOEC et Solaire-SOEC fonctionnant pendant un an montrent que, avec les stratégies de contrôle implémentées, le système SOEC stocke la puissance appliquée avec un rendement de 91% sur PCS en moyenne, alors que les unités fonctionnent dans des conditions tolérables mis à part une unité qui suit la courbe de charge et est susceptible d'avoir une durée de vie diminuée. / Power-to-Gas could become an attractive solution for renewable electricity storage, provided that affordable electrolysers are able to operate efficiently under intermittent conditions. This work aims to assess the technical feasibility of operating intermittently a Solid Oxide Electrolysis Cell (SOEC) system around 1073 K. Realistic unfavourable conditions are considered, consisting in a standalone system operated with no external heat source and integrating hydrogen compression to 3 MPa. Two challenges are tackled in this work: i) the system power load range, limited to 60-100% due to thermal gradients, is extended via efficient control strategies, ii) procedures are defined to minimise the impact of the intermittency on the lifetime. First, a modular control strategy is proposed, consisting in the use of several SOEC units which are either operated in a tolerable power load range, or switched off. The system power load range is hence extended to 15-100% in the case of four units. A complementary control strategy, consisting in internal electrical heating, enables to extend the load range by reducing thermal gradients, but it may decrease the lifetime. Thus, it is applied to only one unit for it to follow the load curve and extend the system power load range to 3-100%. Secondly, 1800 on-off electric cycles are applied to an SOEC with no degradation increase, which shows that repeated start/stops do not decrease the lifetime. Start-up, standby and shut-down procedures are also defined. Finally, two case studies of Wind-SOEC and Solar-SOEC systems operated over one year show that, with the implemented control strategies, the SOEC system stores the applied power with an average efficiency of 91% vs. HHV, while units operate under tolerable conditions apart from one unit which follows the load curve and may have a decreased lifetime.

Tato práce se zabývá synchronním motorem s permanentními magnety na rotoru (PMSM), jeho modelováním a návrhu regulační struktury. V práci jsou uvedeny způsoby a výhody použití permanentních magnetů v elektrických motorech. Dále se práce zabývá transformací třífázové soustavy do dq0. Pomocí Parkovy transformace jsou v práci odvozeny rovnice stroje v dq0 souřadnicovém systému a vytvořeny náhradní schémata stroje v dq osách. Rovnice i schémata zahrnují jak ztráty v mědi, tak ztráty v železe. Náhradní schémata jsou popsány elektrickými a mechanickými rovnicemi a následně překresleny do grafické podoby v programu Matlab Simulink. Vytvořeny jsou dva modely PMSM, jeden s uvažováním ztrát v železe a druhý bez těchto ztrát. Pro oba dva modely je zde popsán postup návrhu regulátorů proudu a otáček. Pro model, u kterého jsou uvažovány ztráty v železe je navíc použito více druhů řídicích strategií a tyto strategie jsou mezi sebou navzájem porovnány.