A heliostat is a device that reflects the sun’s rays to a stationary object. There are two different types of heliostat serial and parallel type. The most used is the serial type of heliostat with Azimuthal-Elevation(Az-El) drive. The parallel heliostat includes two or more actuators to accommodate for the movement, one such design is heliostat with Hydraulic Infinite Linear Actuator (HILA). In this design, the mirror assembly is supported by two HILA’s and a universal joint. The mirror thus has three support points making it a parallel heliostat. This thesis work includes setting up the geometry of the new concept for160 m2reflector area and formulating kinematics and optics equations for calculating the lengths of the actuators and rotations at the universal joint. For structural analysis, the application of wind loads on the structure in the form of pressure is calculated and the structure is designed to satisfy the deflection requirements of 2 mRads at a maximum allowable wind speed of 22 m/s. The symmetric structure is modelled and checked for deflection requirements in Ansys Workbench. The reaction forces are calculated which are then used for topology optimization of the base structure, which is performed Trinitas. When there is an established design for the heliostat with HILA benchmarking is done by designing a scaled-down model for 25 m2 and comparing it with pre-existing results for Az-El type heliostats in literature.

La détection hétérodyne infrarouge est une technique qui a été développée principalement pour améliorer la détectivité des détecteurs infrarouges, en particulier dans la fenêtre 8-12 μm. Cette technique a longtemps été étroitement associée à l’usage de lasers à gaz. Les domaines d’applications ont été principalement les études astrophysiques et atmosphériques. Peu d’autres applications ont pu être envisagées du fait de la complexité de mise en oeuvre et de l’encombrement de ce type d’instruments. Les progrès récents dans le domaine des lasers à semi-conducteurs (les lasers à cascade quantique - QCL - couvrent une grande partie du spectre infrarouge) permettent d’envisager de nouveaux développements et de nouvelles applications pour la détection hétérodyne infrarouge, par exemple pour la détection et l’identification à distance de molécules d’intérêt atmosphérique telles que les polluants. Les principaux atouts de la détection hétérodyne concernent la sélectivité spectrale et directionnelle de l’instrument. Elle est applicable dans le domaine civil aux molécules d’intérêt atmosphérique telles que l’ozone et le dioxyde de carbone et pour le domaine militaire à la détection d’espèces dangereuses. Un récepteur hétérodyne a été réalisé avec un QCL émettant autour de 10 μm et un corps noir stabilisé en température. Dans ce but, plusieurs systèmes ont été envisagés : un système à base de lentilles, un autre à base de miroirs paraboliques hors axes et un dernier à base de fibres optiques moyen infrarouge. Parallèlement, un héliostat a aussi été développé dans le but de réaliser des mesures atmosphériques. / Infrared heterodyne sensing is a technique which has been developed primarily toimprove the detectivity of infrared detectors, particularly in the 8 − 12 μm window. This technique has long been closely associated with the use of gas lasers. The fields of application were mainly astrophysical and atmospheric studies. Due to the complexity of implementation and the size of this type of instrument, ew other applications could have been envisaged. Recent progress in the field of semiconductor lasers (Quantum Cascade Laser - QCL - cover a large part of the infrared spectrum) enable to consider new developments and new applications for infrared heterodyne sensing, for example for the remote detection and identification of atmospheric molecules, such as pollutants. The main advantages of heterodyne sensing concern spectral and directional selectivity of the instrument. It is applicable in civil sector to atmospheric molecules such as ozone and carbon dioxide, and for the military one to detect hazardous species. A heterodyne receiver has been developed with a QCL emitting at around 10 μm and a temperature stabilized black body. To this end, several systems were considered: a system based on lens, another one based on off-axis parabolic mirrors and a last one based on mid-infrared optical fibers. Meanwhile, a heliostat has also been developed in order to do atmospheric measurements.

In concentrated solar power (CSP) stations, large arrays of mirrors which are capable of changing its orientation are used to reflect the incident solar energy to a stationary receiver kept at a distance. Such mirrors are often called as heliostats. The receiver contains a heat absorbing medium like molten salt. By absorbing the thermal energy reflected from thousands of heliostats, the temperature would reach around 6000C and the heat can be used in thermal power plants to generate steam and thus run a turbine to produce electricity. One of the biggest advantages of CSP over conventional energy harvesting from Sun is that it can generate electricity during night for long hours of time from the thermal energy stored during daytime. This eliminates the usage of batteries or any other energy storing methods. The conversion efficiency is also high in CSP due to the high temperature achieved. With prior knowledge of the station coordinates, viz., the latitude and longitude, the day of the year and time, the direction or the path of sun can be fully determined. Typically, the sun's motion is tracked by the azimuth-elevation (Az-El) or the target-aligned configuration heliostats. In both these approaches, the mirror needs to be moved about two axes independently using two actuators in series with the mirror effectively mounted at a single point at the centre. This arrangement causes the mirror to deform in presence of gusty winds in a solar field which results in loss of pointing accuracy. Typically a beam error of less than 2-3 mrad is desirable in a large solar field and this value also includes other sources of loss of pointing accuracy like gravity and wind loading. In order to prevent this, a rigid support frame is required for each of the heliostats. In this work, two three degree-of-freedom parallel manipulators, viz., the 3-UPU wrist and 3-RPS, have been proposed to track the sun in central receiver systems. The main reasons for choosing a parallel manipulator as heliostat are its desirable characteristics like large load carrying capacity, high accuracy in positioning the mirror and easy to obtain the inverse kinematics and convenient for real time control. The proposed parallel manipulators support the load of the mirror, structure and wind loading at three points resulting in less deflection and thus a much larger mirror can be moved with the required tracking accuracy and without increasing the weight of the support structure. The algorithm for sun tracking is developed, extensive simulation study with respect to actuations required, variation of joint angles, spillage loss and leg intersection has been carried out. Using FEA, it is shown that for same sized mirror, wind loading of 22 m/s and maximum deflection requirement (2 mrad), the weight of the support structure is between 15% and 60% less with the parallel manipulators when compared to azimuth-elevation or the target-aligned configurations. A comprehensive study on stroke minimization of prismatic joints is carried out. It is found that a stroke of 700 mm is required for a 2 m x 2 m heliostat at Bangalore when the farthest heliostat is at a distance of 300 m from the tower. Although, there is an extra motor required to track the sun, the 3-RPS manipulator is better than the conventional methods if the mirror area per actuator criteria is taken into consideration. Prototypes of the Az-El and 3-RPS heliostats were made with a mirror size of 1 m x 1 m. A PID controller implemented using MATLAB-Simulink and a low cost, custom made motor driver circuit is used to control the motion of the 3-RPS heliostat. The algorithm developed is tested on the prototype by tracking a point marked on the wall of the lab space and is found to have a tracking error of only 7.1 mrad. Finally, the actual sun tracking is carried out on the roof of a building reflecting the sun-light to a wall situated 6.72 m above and a distance of 15.87 m from the heliostats. The images are captured at various instances of time from 11:30 a.m. to 3:30 p.m. on October 15th and November 10th, 2016, tracking errors are quantified and it is demonstrated that the proposed 3-RPS parallel manipulator can indeed work as a heliostat in concentrated solar power plants.