This study disaggregates and evaluates conventional community psychology as reflected in both the Community Mental Health and Social Action Models. In so doing, it provides evidence in support of its plea for a radical paradigm shift towards ecosystemic theorising in the field of community psycho logy. It further illustrates that an ecosystemic point of departure would have significant implications for the reformulation of conventional notions of community. It concludes by teasing out some alternative praxis related community psychological formulations. / Psychology / M.A. (Clinical Psychology)

This study disaggregates and evaluates conventional community psychology as reflected in both the Community Mental Health and Social Action Models. In so doing, it provides evidence in support of its plea for a radical paradigm shift towards ecosystemic theorising in the field of community psycho logy. It further illustrates that an ecosystemic point of departure would have significant implications for the reformulation of conventional notions of community. It concludes by teasing out some alternative praxis related community psychological formulations. / Psychology / M.A. (Clinical Psychology)

Ocean wave energy is a promising renewable source to contribute to supplying the world’s energy demand. The Division of Electricity at Uppsala University is developing a technology to capture energy from ocean waves with a wave energy converter (WEC) consisting of a linear permanent magnet generator and a point absorber. The linear generator is placed on sea bed and is driven directly by the floating absorber. Since March 2006, multiple wave energy converters have been deployed on the Swedish west coast outside the town of Lysekil. The technology is verified by long-term operation during at sea and satisfactory reliability of the electricity generation. This thesis focuses on developing advanced control strategies for fully coupled wave energy converters subject to constraints. A nonlinear control strategy is studied in detail for a single WEC subject to constraints under regular and irregular waves. Besides, two coordinated control strategies are developed to investigate the performance of a wave energy farm subject to constraints. The performance of the WECs using these control strategies are investigated in case studies, and optimal PTO damping coefficients are found to maximize the output power. The results show that these control strategies can significantly improve the performance of the WECs, in terms of mean power, compared to a conventional control. Besides these control strategies, a wave-to-wire simulation platform is built to study the power generation control of the WEC subject to constraints.  The wave-to-wire simulation platform allows both nonlinear and linear control force. The results show that there is a good agreement between the desired value and the actual value after advanced control.

[pt] Simuladores de movimentos são sistemas mecatrônicos que reproduzem as principais atitudes e movimentos de um veículo. Neste estudo serão analisados simuladores baseados em mecanismos com 3 e 6 graus de liberdade. No segundo caso, o mecanismo é capaz de reproduzir todos os ângulos de atitude (rolagem, arfagem e guinada) e todos os deslocamentos lineares (lateral, vertical e longitudinal) com limitações, porém com amplitude suficiente de modo a possibilitar os principais movimentos associados ao veículo. O uso de transdutores de deslocamento linear nestes mecanismos articulados introduzem elevados efeitos de inércia, além de aumentar a massa dos mesmos, diminuindo sua relação carga/peso e sua eficiência. Atualmente, o grande desenvolvimento de sensores do tipo unidade de medição inercial (IMU) aumentou a disponibilidade destes no mercado e reduziu muito seu custo. Como se trata de acelerômetros triaxiais em conjunto com girômetros também triaxiais, sensores como este podem ser usados para determinar a posição e a orientação no espaço de mecanismos com seis graus de liberdade, como a Plataforma Stewart. Neste trabalho será desenvolvida uma metodologia para modelagem da cinemática de mecanismos paralelos baseada nos derivativos de suas matrizes jacobianas. Esta metodologia é avaliada em um mecanismo paralelo plano de três graus de liberdade e em uma Plataforma Stewart. Com a metodologia de modelagem validada, é implementada uma estratégia de controle baseada no uso de um sensor tipo central inercial para o controle de posição, velocidade e aceleração destes mecanismos. Os resultados das simulações indicam a possibilidade do uso destes sensores nestes tipos de equipamentos e apontam para a necessidade de avaliar esta metodologia em testes experimentais. / [en] Movement simulators are mechatronic systems that reproduce the main attitudes and movements of a vehicle. In this study are examined simulators based on 3 and 6 degrees of freedom mechanisms. In the second case, the mechanism is able to reproduce all the attitude angles (roll, pitch and yaw) and all the linear displacements (sway, heave and surge) with limitations, but with sufficient amplitude to enable the main movements associated with the vehicle. The use of linear displacement transducers in these articulated mechanisms introduce high inertia effects and increase the mass, decreasing the load/weight ratio and efficiency. Currently, the great development of the inertial central type sensors (IMU – Inertial measurement unit) increased the availability of these transducers on market and greatly reduced cost. Since this is a conjunct of triaxial accelerometers with triaxial gyrometers, sensors such as these ones can be used to determine the position and orientation in space of mechanisms with six degrees of freedom, such as the Stewart Platform. In this work it will be developed a methodology for modeling the kinematics of parallel mechanisms based on derivatives of their jacobian matrices. This methodology is evaluated in a planar parallel mechanism of three degrees of freedom and on a Stewart Platform. With the modeling methodology validated, a control strategy based on the use of an inertial unit type sensor for controlling the position, velocity and acceleration of these mechanisms is implemented. The simulations results indicate the possibility of using these sensors in these types of equipment and point to the need to evaluate this methodology in experimental tests.

Im Zuge strenger werdender Emissionsrichtlinien und steigender Kraftstoffpreise spielt die Energieeffizienz mobiler Arbeitsmaschinen eine zunehmend wichtigere Rolle. Die Firma Gottwald Port Technology GmbH hat in diesem Zusammenhang einen hybriden Antriebsstrang für einen Hafenmobilkran (HMK) in Zusammenarbeit mit der Technischen Universität Dresden erforscht und umgesetzt. Bei diesem Hybridsystem wird die kinetische und potentielle Energie aus dem elektrischen Hub- und Drehwerk des Krans, welche zuvor im Bremswiderstand in Wärme umgewandelt wurde, durch einen elektrischen Energiespeicher zurückgewonnen. Im Gegensatz dazu ist das hydraulisch betriebene Wippwerk noch nicht rückspeisefähig. Ziel dieser Arbeit ist die Identifikation einer technischen Lösung zur Energierückgewinnung aus der hydraulischen Anlage eines HMK und die Bewertung des erreichbaren Kraftstoffeinsparpotentials. Zunächst wird das bestehende hydraulische System untersucht, um die Anforderungen an das rückspeisefähige Konzept zu ermitteln. Dazu werden Modelle der Kinematik und Kinetik des Wippwerks abgeleitet. Anhand einer Entscheidungsanalyse wird ein hydraulisches Konzept aus einem Katalog verfügbarer Alternativen ausgewählt. Im Anschluss daran wird ein energieflussbasiertes Modell des Konzepts in Matlab/Simulink erstellt und in das bestehende Simulationsmodell integriert. Die Simulationsergebnisse zeigen ein großes Einsparpotential an Dieselkraftstoff durch den Einsatz des rückspeisefähigen Hydrauliksystems. / Due to stricter emission restrictions and rising fuel costs energy efficiency of mobile work machines is getting more important. In cooperation with Dresden University of Technology, Gottwald Port Technology GmbH has developed a mobile harbour crane with a hybrid drive train. This system can recuperate the kinetic and potential energy from the electrical slewing and hoisting gear, which was formerly dissipated to heat. This paper deals with the identification of a technical solution to recuperate energy form the hydraulic luffing gear to determine the potential reduction of fuel consumption. At first, the actual hydraulic system is analyzed to estimate the requirements of the new recuperation system. For that purpose, models of the kinematics and kinetics of the luffing gear are created. With the help of weighted criteria, a hydraulic concept is chosen of several alternatives. Afterwards, an energy flow based model in Simulink/Matlab is created and integrated in the existing simulation model of the crane. The simulation results confirm a considerable reduction of diesel fuel due to the application of hydraulic recuperation system.

Το κεφάλαιο 1 αποτελεί εισαγωγή του αναγνώστη σε θέματα που αφορούν τα ηλεκτρικά κινητήρια συστήματα. Αρχικά πραγματοποιείται μια σύντομη ιστορική αναδρομή και περιγραφή της εξέλιξης αυτών, ενώ στη συνέχεια παρουσιάζονται οι θεματικές ενότητες που αποτελούν τη συμβολή της παρούσας διατριβής όπως ο έλεγχος των κινητήριων συστημάτων και η διάγνωση σφαλμάτων σε αυτά. Τέλος, υπογραμμίζονται οι στόχοι που ορίστηκαν και εκπληρώνονται στο πλαίσιο της εργασίας αυτής. Στο κεφάλαιο 2 γίνεται μια γενική περιγραφή των σταδίων παραγωγής τσιμέντου, παρουσιάζεται η χαρακτηριστική ροπής-στροφών του κλιβάνου με βάση τη διαθέσιμη βιβλιογραφία, αναλύονται λεπτομερώς οι τοπολογίες συστημάτων μετάδοσης που εγκαθίστανται σε κλιβάνους μικρής και μεγάλης παραγωγικής δύναμης, αναδεικνύονται οι προδιαγραφές που υφίστανται κατά την επιλογή των ηλεκτρικών κινητήριων μηχανών και τέλος τονίζονται οι απαιτήσεις του ελέγχου των κινητήριων μηχανών, έτσι όπως τίθενται από τη βιομηχανία τσιμέντου. Στο κεφάλαιο 3 περιγράφεται το μαθηματικό μοντέλο που αναπτύχθηκε και χρησιμοποιήθηκε για την προσομοίωση της λειτουργίας του συστήματος και το οποίο απαρτίζεται από τα επιμέρους μοντέλα του κλιβάνου, του συστήματος μετάδοσης της κίνησης, των τριφασικών ασύγχρονων μηχανών, των ηλεκτρονικών μετατροπέων ισχύος καθώς και του ελέγχου των κινητήριων μηχανών. Στο κεφάλαιο 4 περιγράφονται τα υποσυστήματα του υπό κλίμακα συστήματος με σκοπό την εξομοίωση, που κατασκευάστηκε στο εργαστήριο με στόχο την επαλήθευση των αποτελεσμάτων της προσομοίωσης στον ηλεκτρονικό υπολογιστή. Στο κεφάλαιο 5 γίνεται λεπτομερής αναφορά στις υφιστάμενες τεχνικές ελέγχου των τριφασικών ασύγχρονων μηχανών και στις εφαρμογές αυτών σε μονά και διπλά κινητήρια συστήματα. Στη συνέχεια πραγματοποιείται σύγκριση δύο εκ των επικρατέστερων μεθόδων ελέγχου διπλών κινητήριων συστημάτων και παρουσιάζονται ενδεχόμενες δυσλειτουργίες αυτών λαμβάνοντας υπόψη τα αποτελέσματα που προέκυψαν από την προσομοίωση του συστήματος και τα οποία πιστοποιούνται μέσω της πειραματικής διαδικασίας αλλά και της διαθέσιμης βιβλιογραφίας. Στη συνέχεια προτείνεται ένας καινοτόμος υβριδικός έλεγχος που, όπως αποδεικνύεται μέσω προσομοίωσης αλλά και πειραματικών αποτελεσμάτων, αντιμετωπίζει αποτελεσματικά τις προαναφερθείσες δυσλειτουργίες οδηγώντας σε ομαλή λειτουργία του συστήματος. Στο κεφάλαιο 6 προτείνεται, αντί των υφιστάμενων μεθόδων που περιλαμβάνουν την εγκατάσταση επιταχυνσιομέτρων, τη χρήση ακουστικών σημάτων και άλλων παρόμοιων μεθόδων, η χρήση της ηλεκτρικής κινητήριας μηχανής (τριφασικής ασύγχρονης μηχανής στην προκειμένη περίπτωση) ως αισθητήριο μέσο για τη διάγνωση μηχανολογικών σφαλμάτων στις οδοντώσεις γραναζιών. Συγκεκριμένα, εξετάζεται η επίδραση των εν λόγω σφαλμάτων στο φάσμα συχνοτήτων του φασικού ρεύματος και της ηλεκτρομαγνητικής ροπής της τριφασικής ασύγχρονης μηχανής, αποδεικνύεται η δυνατότητα διάγνωσης του σφάλματος ανιχνεύοντας την ύπαρξη πολλαπλών αρμονικών στο φάσμα τόσο του φασικού ρεύματος όσο και της ηλεκτρομαγνητικής ροπής. Στο κεφάλαιο 7 γίνεται μια εκτίμηση σε ό,τι αφορά τη συμβολή της διδακτορικής διατριβής, το κεφάλαιο 8 περιλαμβάνει μία ανά κεφάλαιο περίληψη της παρούσας διατριβής ενώ το κεφάλαιο 9 περιέχει τη διαθέσιμη βιβλιογραφία που χρησιμοποιήθηκε στην παρούσα εργασία κατά τη σειρά αναφοράς της στο κείμενο. / This thesis deals with the modeling, the control and the diagnosis of mechanical faults in a dual ac drive with common mechanical load. Chapter 1 constitutes an introduction of the reader to the electrical drive systems. Initially, a short historical retrospection of these systems is realized, while afterwards the thematic units that constitute the contributions of the present thesis, which can be summarized as the control of a dual cement kiln drive and the diagnosis of mechanical gear faults using the ac motor as a sensor, are presented. In chapter 2 the specifications and the operational characteristics of the kiln drive system are presented based on the industrial requirements and the existing references. Particularly the torque – speed characteristic load curve of the kiln, the advantages of upgrading the dc drives with ac ones, the parameters which determine the decision of installing a single or a dual transmission system and the need of uninterrupted operation of the kiln drive are underlined. In addition the step by step development of a simulating model of the under study system in the Matlab/Simulink environment is presented in chapter 3. Particularly the equations of motion for the kiln and the transmission system, the dynamic model equations of the asynchronous motor, the power electronics converters and the control strategy based on the Direct Torque Control have been incorporated in the Matlab/Simulink environment through which a theoretical investigation is realized. Moreover, the design and the development of an under scale laboratory simulating system of the kiln drive has been realized and the characteristics of the design specifications of the laboratory system are presented in chapter 4. Using the theoretical model developed in the Matlab/Simulink environment and the laboratory simulating system, a comparison of the existing control methods used for the electric drive systems (speed control and torque control) is being presented (chapter 5), focusing at specific malfunctions which can be caused by the application of these controls at a dual cement kiln drive. Taking into account these malfunctions, a novel hybrid control method is being presented whose operation is based on the application of a parallel-hybrid speed and torque control, simultaneously at both electric motors. In this way an equal load distribution can be achieved, obviating at the same the appearance of mechanical malfunctions. In chapter 6, the fault diagnosis of electromechanical drives is referenced, focusing on the identification of mechanical faults appeared in the pinion/girth gear coupling using the ac motor as a sensor. The proposed diagnostic method is based on the detection of multiples of the defective frequency at both phase current and electromagnetic torque frequency spectrum. The effectiveness of the proposed method is verified using experimental results from the laboratory simulating system, operating as a single drive. Finally, chapter 7, 8 and 9 include an estimation of the thesis contribution, a summary and the reference part respectively.

Comme les autres technologies liées aux énergies renouvelables, le solaire à concentration souffre des problèmes liés à l’intermittence de la ressource. La technologie thermocline est une solution prometteuse qui réduirait le coût du stockage thermique dans les centrales solaires de ce type. Cependant, aucune étude n’a jusqu’ici porté sur l’impact de la variation de la température en sortie du réservoir de stockage de type thermocline sur les autres composants de la centrale. Ce travail de thèse a pour but d’améliorer les connaissances sur ce sujet, grâce à l’utilisation d’une mini boucle solaire cylindro parabolique intégrant un stockage thermocline.En premier lieu, la compatibilité entre le fluide de transfert de la centrale (huile synthétique) et les potentiels matériaux de garnissage de la cuve de stockage (Cofalit, briques de cendres volantes, alumine) est vérifiée. Puis les performances de chacun des composants de la centrale (cuve de stockage, collecteurs solaires, générateur de vapeur) sont analysées expérimentalement et numériquement. Enfin, le comportement du système global est étudié, avec un accent porté sur l’impact de la variation de la température de sortie de la cuve thermocline sur les autres composants.Il a été montré qu’avec un dimensionnement et une stratégie de contrôle appropriés, la technologie thermocline diminue très peu les performances de la centrale solaire par rapport à la technologie conventionnelle à deux cuves (maximum 3 4 % de diminution de la production électrique). / Like other renewable energy technologies, concentrated solar power (CSP) suffers from resource intermittence. Thermocline technology is a promising solution to decrease cost of thermal energy storage in CSP plants. Thermocline behavior has thoroughly been studied in the past years and its behavior is considered well known. However no study treated of thermocline tanks integrated in CSP plants. Thus, the impact of the varying outlet temperature of the thermocline storage has not been assessed yet. This work aims to fill this lack of knowledge by studying a mini parabolic trough power plant integrating a thermocline tank as storage.First, the compatibility between the heat transfer fluid of the plant (synthetic oil) and various potential filler materials (Cofalit, coal fly ash bricks, alumina) of the storage tank is verified. Then, some performance studies are performed on the three main components of the power plant (energy storage tank, solar collectors, steam generator). Finally, the behavior of the whole system is assessed, with a focus on the impact of the varying fluid temperature at the outlet of the thermocline tank on the other components.It has been shown that, with a proper sizing and an appropriate control strategy, thermocline technology induces very low decrease of the solar power plant performance in comparison to the conventional two tank technology (maximum 3-4% of electrical power production difference).

Le travail présenté ici a pour objectifs d’étudier et d’optimiser les performances énergétiques d’un chauffe-eau thermodynamique couplé à un stockage par chaleur sensible. La ressource utilisée consiste en la récupération de chaleur sur l’air extrait d’un logement de type collectif. L’enjeu est de caractériser les conditions dans lesquelles le système est capable d’assurer les besoins avec des performances requises lorsque les conditions aux limites sont très fluctuantes. Sur le plan fonctionnel, le système doit être le plus simple possible du point de vue de sa configuration hydraulique et de sa stratégie de régulation.Pour cette étude, nous avons développé un modèle physico-corrélatif sur TRNSYS pour simuler et analyser les différents scenarios et les couplages thermohydrauliques entre les composants du système. En parallèle de cette démarche de modélisation, nous avons conçu et mis en œuvre un dispositif expérimental à l’échelle 1 à des fins de validation du modèle sur une large plage de conditions opératoires.L’analyse des résultats, notamment sur la nature des écoulements au sein du ballon de stockage, a mis en évidence l’influence majeure d’un certain nombre de paramètres sur les performances du système. En particulier, la robustesse des performances face à des fluctuations importantes des conditions aux limites peut être assurée grâce à une stratégie de régulation adaptée.Cette étude a finalement conduit à proposer un modèle réduit pour le dimensionnement du système qui prend en compte les paramètres le plus pertinents pour la stratégie de régulation. / The work presented here aims to study and optimize the energy efficiency of a heat pump water heater coupled with a sensible heat storage. The resource used consists of heat recovery from exhaust air of a collective type of housing. The challenge is to characterize the conditions in which the system is capable of ensuring the needs with performance required when the boundary conditions are very volatile. Functionally, the system should be as simple as possible from the viewpoint of its hydraulic configuration and its control strategy.For this study, we developed a TRNSYS numerical model to simulate and analyze different scenarios and thermal hydraulic couplings between the system components. In parallel with this modeling approach, we designed and implemented an experimental set up with realistic scale to validate the model over a wide range of operating conditions.The analysis of the results, including the nature of flows within the storage tank, highlighted the major influence on a number of parameters on the system performance. In particular, the robust performance in the face of significant fluctuations of the boundary conditions can be ensured through appropriate control strategy.This study eventually led to propose a model for the design of the system that takes into account the most relevant parameters for the control strategy.

L'utilisation de systèmes de stockage de l'énergie électrique tels que les batteries nécessite l'assemblage de plusieurs cellules. Comme chacune de ces dernières peut avoir des caractéristiques légèrement différentes ainsi que des conditions d'environnement thermique ou de vieillissement distinctes, l'utilisation d'un système d'équilibrage permettant une bonne gestion de la répartition de l'énergie au sein des éléments qui composent le pack est nécessaire. Les travaux de recherche présentés se rapportent à l'étude et à la conception d'un tel circuit d'équilibrage à base de convertisseurs d'énergie intégrables ainsi qu'aux sollicitations électriques engendrées dans les cellules lors de son utilisation. / To store electrical energy in batteries, the use of multiple cells is needed. Since each of these cells can have slightly different characteristics and also different thermal or aging environmental conditions, a balancing system is required to manage the energy inside the battery pack. The researches described in this document show the study and the design of such a balancing system based on power electronics converters and also the impact of these systems on the electrochemical cells.

Im Zuge strenger werdender Emissionsrichtlinien und steigender Kraftstoffpreise spielt die Energieeffizienz mobiler Arbeitsmaschinen eine zunehmend wichtigere Rolle. Die Firma Gottwald Port Technology GmbH hat in diesem Zusammenhang einen hybriden Antriebsstrang für einen Hafenmobilkran (HMK) in Zusammenarbeit mit der Technischen Universität Dresden erforscht und umgesetzt. Bei diesem Hybridsystem wird die kinetische und potentielle Energie aus dem elektrischen Hub- und Drehwerk des Krans, welche zuvor im Bremswiderstand in Wärme umgewandelt wurde, durch einen elektrischen Energiespeicher zurückgewonnen. Im Gegensatz dazu ist das hydraulisch betriebene Wippwerk noch nicht rückspeisefähig. Ziel dieser Arbeit ist die Identifikation einer technischen Lösung zur Energierückgewinnung aus der hydraulischen Anlage eines HMK und die Bewertung des erreichbaren Kraftstoffeinsparpotentials. Zunächst wird das bestehende hydraulische System untersucht, um die Anforderungen an das rückspeisefähige Konzept zu ermitteln. Dazu werden Modelle der Kinematik und Kinetik des Wippwerks abgeleitet. Anhand einer Entscheidungsanalyse wird ein hydraulisches Konzept aus einem Katalog verfügbarer Alternativen ausgewählt. Im Anschluss daran wird ein energieflussbasiertes Modell des Konzepts in Matlab/Simulink erstellt und in das bestehende Simulationsmodell integriert. Die Simulationsergebnisse zeigen ein großes Einsparpotential an Dieselkraftstoff durch den Einsatz des rückspeisefähigen Hydrauliksystems. / Due to stricter emission restrictions and rising fuel costs energy efficiency of mobile work machines is getting more important. In cooperation with Dresden University of Technology, Gottwald Port Technology GmbH has developed a mobile harbour crane with a hybrid drive train. This system can recuperate the kinetic and potential energy from the electrical slewing and hoisting gear, which was formerly dissipated to heat. This paper deals with the identification of a technical solution to recuperate energy form the hydraulic luffing gear to determine the potential reduction of fuel consumption. At first, the actual hydraulic system is analyzed to estimate the requirements of the new recuperation system. For that purpose, models of the kinematics and kinetics of the luffing gear are created. With the help of weighted criteria, a hydraulic concept is chosen of several alternatives. Afterwards, an energy flow based model in Simulink/Matlab is created and integrated in the existing simulation model of the crane. The simulation results confirm a considerable reduction of diesel fuel due to the application of hydraulic recuperation system.