A thesis which models the DNP3 and IEC 61850 protocol in OPNET / Supervisory Control and Data Acquisition (SCADA) is a critical part of monitoring and controlling of the electrical substation. The aim of this dissertation is to investigate the performance of the Distributed Network Protocol Version 3.3 (DNP3) protocol and to compare its performance to that of International Electro-technical Commission (IEC) 61850 protocol in an electrical substation communication network environment. Building an electrical substation control room and installing the network equipment was going to be expensive and take a lot of time. The better option was to build a model of the electrical substation communication network and run simulations. Riverbend modeller academic edition known as Optimized Network Engineering Tool (OPNET) was chosen as a software package to model substation communication network, DNP3 protocol and IEC 61850 Protocol stack. Modelling the IEC 61850 protocol stack on OPNET involved building the used Open System Interconnection (OSI) layers of the IEC 61850 protocol stack onto the application definitions of OPNET. The Transmission Control Protocol/Internet Protocol (TCP/IP) configuration settings of DNP3 protocol were also modelled on the OPNET application definitions. The aim is to compare the two protocols and determine which protocol is the best performing one in terms of throughput, data delay and latency. The substation communication model consists of 10 ethernet nodes which simulate protection Intelligent Electronic Devices (IEDs), 13 ethernet switches, a server which simulates the substation Remote Terminal Unit (RTU) and the DNP3 Protocol over TCP/IP simulated on the model. DNP3 is a protocol that can be used in a power utility computer network to provide communication service for the grid components. DNP3 protocol is currently used at Eskom as the communication protocol because it is widely used by equipment vendors in the energy sector. DNP3 protocol will be modelled before being compared to the new recent robust protocol IEC 61850 in the same model and determine which protocol is the best for Eskom on the network of the power grid. The network load and packet delay parameters were sampled when 10%, 50%, 90% and 100% of devices are online. The IEC 61850 protocol model has three scenarios and they are normal operation of a Substation, maintenance in a Substation and Buszone operation at a Substation. In these scenarios packet end to end delay of Generic Object Oriented Substation Event (GOOSE), vi © University of South Africa 2020 Generic Substation Status Event (GSSE), Sampled Values (SV) and Manufacturing Messaging Specification (MMS) messages are monitored. The throughput from the IED under maintenance and the throughput at the Substation RTU end is monitored in the model. Analysis of the results of the DNP3 protocol simulation showed that with an increase in number of nodes there was an increase in packet delay as well as the network load. The load on the network should be taken into consideration when designing a substation communication network that requires a quick response such as a smart gird. GOOSE, GSSE, SV results on the IEC 61850 model met all the requirements of the IEC 61850 standard and the MMS did not meet all the requirements of the IEC standard. The design of the substation communication network using IEC 61850 will assist when trying to predict the behavior of the network with regards to this specific protocol during maintenance and when there are faults in the communication network or IED’s. After the simulation of the DNP3 protocol and the IEC 61850 the throughput of DNP3 protocol was determined to be in the range (20 – 450) kbps and the throughput of IEC61850 protocol was determined to be in the range (1.6 – 16) Mbps. / College of Engineering, Science and Technology / M. Tech. (Electrical Engineering)

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Το έτος 1987 στο Τμήμα Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών του Πανεπιστήμιου Πατρών και συγκεκριμένα στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του Τμήματος Ηλεκτρολόγων Μηχανικών, στα πλαίσια εκπαιδευτικών και ερευνητικών σκοπών, εγκαταστάθηκε ένα πλήρες αυτοματοποιημένο σύστημα παράγωγης και παροχής ηλεκτρικών τάσεων. Σκοπός του συστήματος ήταν η παροχή 10 διαφορετικών τύπων τάσεων σε 15 συγκεκριμένες θέσεις εργασίας στο χώρου του Εργαστηρίου. Το σύστημα ήταν πλήρως αυτοματοποιημένο, καθώς χρησιμοποιήθηκε προγραμματιζόμενος λογικός ελεγκτής (PLC) που ήταν επιφορτισμένος με τον έλεγχο, την εποπτεία και τη διαχείριση του Συστήματος. Επίσης υπήρχε προσωπικός Η/Υ άμεσα συνδεδεμένος στο σύστημα, μέσω του όποιου ο διαχειριστής του μπορούσε να παρακολουθεί, να διαχειρίζεται και να διανέμει τον κάθε τύπο από τις προσφερόμενες παροχές. Το σύστημα με την πάροδο του χρόνου εμφάνισε βασικά λειτουργικά προβλήματα, με αποτέλεσμα να μειωθεί δραστικά ο αριθμός των παρεχόμενων τύπων τάσεων, αλλά και η ικανότητα διαχείρισης και διανομής αυτών που παρέχονταν. Πιο συγκεκριμένα, το τμήμα τoυ προγραμματιζόμενoυ λογικού ελεγκτή (PLC) και του συνδεδεμένου Η/Υ του συστήματος ουσιαστικά και πρακτικά είχε τεθεί πλέον πλήρως εκτός λειτουργίας. Στόχος και σκοπός της παρούσας εργασίας ήταν η λύση των προβλημάτων του προαναφερθέντος συστήματος με τελικό αποτέλεσμα την κανονική και ομαλή λειτουργία του. Η λύση που προτείνεται είναι η υλοποίηση και η ενσωμάτωση ενός σύγχρονου δικτύου αυτοματισμού με τη χρήση σύγχρονων PLC (επιλέχθηκε η εταιρεία OMRON) καθώς και η ενσωμάτωση ενός συστήματος εποπτικού και διαχειριστικού ελέγχου, λογισμικό τύπου SCADΑ της ίδιας εταιρείας. Αναλύονται διεξοδικά τόσο ο τρόπος παραγωγής των τάσεων με τα αντίστοιχα κυκλώματα ισχύος όσο και ο τρόπος διανομής και διαχείρισης αυτών με τα αντίστοιχα κυκλώματα αυτοματισμού. Εμπεριέχονται εκτενείς αναφορές στα σύγχρονα PLC, στον τρόπο λειτουργίας και προγραμματισμού τους καθώς και ο τρόπος με τον οποίο είναι δυνατό να ενσωματωθούν και να λειτουργήσουν πλήρως στο υπάρχον σύστημα. Γίνεται μια εισαγωγή στα σύγχρονα συστήματα διαχείρισης και εποπτικού ελέγχου (SCADA) ώστε να μπορεί ο κάθε αναγνώστης, χωρίς να χρειάζονται υψηλού επιπέδου γνώσεις, να κατανοήσει τη χρησιμότητα και τη λειτουργία τους και μελετείται ο τρόπος με τον οποίο θα υλοποιηθεί το παραπάνω δίκτυο αυτοματισμού με τη χρήση των PLC και με την παρουσία του εποπτικού συστήματος SCADA. Γίνεται πλήρης αναφορά σε έναν πολύ βασικό τομέα του Ηλεκτρολόγου Μηχανικού στη σύγχρονη εποχή: τον υπολογισμό κόστους προμήθειας, εγκατάστασης και κατασκευής όλων των στοιχείων του εγχειρήματος και μελετούνται όλες οι παράλληλες επιλογές για την καλύτερη δυνατή λειτουργία του και την περαιτέρω ανάπτυξη και βελτίωση του. / The year 1987 in the Department of Electrical and Computer Engineering University of Patras and specifically in Electromechanical Energy Conversion Laboratory Department of Electrical Engineering, in educational and research purposes, installed a complete automated system for producing and providing electrical voltages. This system was able to provide 10 different types of voltages in 15 stations in the area of Laboratory. The system was fully automated, used a Programmable Logic Controller (PLC), which was responsible for monitoring, supervision and management system. Also there was a PC directly connected to the system, through which the administrator can monitor, manage and distribute each type of voltage. The system through the walking time showed major operational problems. As a result, the number of the types of voltages and the ability to manage and distribute those provided reduced drastically. Specifically, the part of programmable logic controller (PLC) and the connected computer system effectively and practically has run out of order. The purpose of this work was the solution of problems of the system and ultimately with final result the normal and smooth operation. The solution proposed is the implementation and integration of a modern network automation using modern PLC (the company chosen is OMRON) and the incorporation of a supervisory control and data acquisition application and (SCADA) software of the same company. Analyzed in detail both the production voltages with the respective power circuits and the method of distribution and management of the automation circuits. Contained extensive references to contemporary PLC, in operations and programming, and how it is possible to integrate and operate fully in the existing system. There is an introduction to SCADA to enable each reader without the need for high-level knowledge to understand the utility and operation, and considering how we implement the above automation network using a PLC and SCADA application. We mention a very important area of Electrical Engineering in the modern era: counting the cost of supply, installation and construction of all elements of the project and consider all parallel options for optimal operation and further development and improvement.

Tradicinės x86 architektūros spartinimui artėjant prie galimybių ribos, kompanija Intel pradėjo kurti naują IA-64 architektūrą, paremtą EPIC – išreikštinai lygiagrečiai vykdomomis instrukcijomis vieno takto metu. Ši pagrindinė savybė leidžia vykdyti iki šešių instrukcijų per vieną taktą. Taipogi architektūra pasižymi tokiomis savybėmis, kurios leido efektyviai spręsti su kodo optimizavimu susijusias problemas tradicinėse architektūrose. Tačiau kompiliatorių optimizavimo algoritmai ilgą laiką buvo tobulinami tradicinėse architektūrose, todėl norint išnaudoti naująją architektūrą, reikia ieškoti būdų tobulinti esamus kompiliatorius. Vienas iš būdų – kompiliatoriaus vidinių parametrų atsakingų už optimizacijas reikšmių pritaikymas IA-64. Būtent toks yra šio darbo tikslas, kuriam pasiekti reikia išnagrinėti IA-64 savybes, jas vėliau eksperimentiškai taikyti realaus kodo pavyzdžiuose bei įvertinti jų įtaką kodo vykdymo spartai. Pagal gautus rezultatus nagrinėjami kompiliatoriaus vidiniai parametrai ir su specialia kompiliatorių testavimo programa randamas geriausias reikšmių rinkinys šiai architektūrai. Vėliau šis rinkinys išbandomas su taikomosiomis programomis. Gauto parametrų rinkinio reikšmės turėtų leisti generuoti efektyvesnį kodą IA-64 architektūrai. / After performance optimization of traditional architectures began to reach their limits, Intel corporation started to develop new architecture based on EPIC – Explicitly Parallel Instruction Counting. This main feature allowed up to six instructions to be executed in single CPU cycle. Also this architecture includes more features, which allowed efficient solution of traditional architectures code optimization problems. However for long time code optimization algorithms have been improved for traditional architectures only, as a result those algorithms should be adopted to new architecture. One of the ways to do that – exploration of internal compilers parameters, which are responsible for code optimizations. That is the primary target of this work and in order to reach it the features of the IA-64 architecture and impact to execution performance must be explored using real-life code examples. Tests results may be used later for internal parameters selection and further exploration of these parameters values by using special compiler performance testing benchmarks. The set of those new values could be tested with real life applications in order to prove efficiency of IA-64 architecture features.

Indiana University-Purdue University Indianapolis (IUPUI) / There have been many endeavors to design humanoid robots that have human characteristics such as dexterity, autonomy and intelligence. Humanoid robots are intended to cooperate with humans and perform useful work that humans can perform. The main advantage of humanoid robots over other machines is that they are flexible and multi-purpose. In this thesis, a human-like robotic arm is designed and used in a task which is typically performed by humans, namely, catching a ball. The robotic arm was designed to closely resemble a human arm, based on anthropometric studies. A rigid multibody dynamics software was used to create a virtual model of the robotic arm, perform experiments, and collect data. The inverse kinematics of the robotic arm was solved using a Newton-Raphson numerical method with a numerically calculated Jacobian. The system was validated by testing its ability to find a kinematic solution for the catch position and successfully catch the ball within the robot's workspace. The tests were conducted by throwing the ball such that its path intersects different target points within the robot's workspace. The method used for determining the catch location consists of finding the intersection of the ball's trajectory with a virtual catch plane. The hand orientation was set so that the normal vector to the palm of the hand is parallel to the trajectory of the ball at the intersection point and a vector perpendicular to this normal vector remains in a constant orientation during the catch. It was found that this catch orientation approach was reliable within a 0.35 x 0.4 meter window in the robot's workspace. For all tests within this window, the robotic arm successfully caught and dropped the ball in a bin. Also, for the tests within this window, the maximum position and orientation (Euler angle) tracking errors were 13.6 mm and 4.3 degrees, respectively. The average position and orientation tracking errors were 3.5 mm and 0.3 degrees, respectively. The work presented in this study can be applied to humanoid robots in industrial assembly lines and hazardous environment recovery tasks, amongst other applications.