Sophisticated power electronic apparatus and their digital control systems are finding increasing applications in electric power systems at generation, transmission, distribution and utilization levels. It is essential to carry out rigorous performance evaluation of such apparatus before commissioning. Field Programmable Gate Arrays (FPGAs) are becoming an attractive platform for accelerating computationally intensive applications. This thesis presents a FPGA-based real-time digital simulator for power electronic drives based on realistic device characteristics. A 3-level 12-pulse Voltage Source Converter (VSC) fed induction machine drive is implemented on the FPGA. The system components include the 3-level VSC, the induction machine, the direct field oriented controller, and the pulse width modulator. Both system-level and device-level IGBT models are utilized to implement the VSC. The VSC model is computed at a fixed time-step of 12:5ns allowing an accurate representation of the IGBT nonlinear switching characteristics. Altera Startix EP1S80 and EP3SL150F1152C2 FPGA boards utilized for the real-time simulation. All models were implemented in VHDL. The FPGA boards were interfaced to external DAC boards to display real-time results on the oscilloscope. The real-time results were validated using an off-line cosimulation set-up using the SABER and MATLAB/SIMULINK software. / Power Engineering and Power Electronics

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A reliable embedded real-time system has many requirements to fulfil. It must meet target deadlines in a number of situations, most of them in a situation that puts heavy stress on the system. To meet these demands, numerous tests have been created which test the hardware for any possible errors the developers might think of, in order to maximise system reliability and stability. These tests will take a lot of time to execute, and as system complexity grows, more tests are introduced leading to even longer testing times. In this thesis, a method to reduce the testing time of the software and, to a lesser extent, the hardware is examined. By using the full system simulator Simics, an existing industry system from ABB was integrated and tests were performed. A proof of concept test suite for automatic redundancy tests was also implemented. By looking at the test results, it was concluded that the method shows promise. However, problems with the average latency and performance troubles with Simics shows that more work must be put into this research before the system can be run at full speed.

Spacecraft simulator platforms can simulate the microgravity environment of space on Earth, for the purposes of testing the Attitude and Orbit Control Subsystem of satellites. In order to do this, the satellite is mounted on a bench and the combined center of mass of this assembly is controlled by a series of moving masses. The objective is to bring this center or mass as close as possible to the center of rotation, since solids in microgravity always rotate around their own center of mass. The air-bearing platform located, designed and built at the NanoSat Laboratory of the Kiruna Space Campus of the Luleå University of Technology makes use of four balancing masses, which are displaced by that number of linear actuators. This document explains the process followed to design an algorithm for the estimation of the center of mass and the subsequent calculation of the required positions of the balancing masses to bring this center of mass back to the center of rotation. First, the equations of rotational motion of the bench were found through two formulations: quaternions and Euler-Lagrange. Secondly, these equations were used to obtain an estimation of the center of mass via Batch Least-Squares. Thirdly, the equations of the center of mass of a system of point masses were used to find the proper positions of the balancing masses. Finally, the complete algorithm was tested with Hardware-in-the-Loop simulations before testing it in the real hardware of the platform. The developed algorithm was not capable of estimating the center of mass with sufficient accuracy, which invalidated the obtained actuator positions, and thus was not able to compensate the offset of the center of mass. Recommended lines of development are provided to assist on the continuation of this work.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / From the aerial parts of Pavonia distinguenda the glycosilated flavonoids, tirosilide and astragalina glycolilated flavonoids were isolated, among free b-sitosterol, lupeol, taraxerol, germanicol and from the roots of Dorstenia brasiliensis Lam, psolaren, bergapten and umbeliferone that were identified by the appliance of NMR 1D and 2D GC-MS techniques. The crude extract of P distinguenda presented a citotoxity index to Artemia salina Leach larvae with LD50 in 6.2 μg/mL, showing potential antitumoural and/or insecticide activity. In the intraperitoneal single dose acute toxicity tests it presented LD50 in 1004.9 mg/kg (confidence limits in 731.8 and 1422.7 mg/kg) and to oral administration one LD50 in 3002.1 mg/kg (lower and upper confidence limits respectively, in 2864.4 and 3153.1 mg/kg).The crude extract, the hexanic, dichloromethane, ethyl acetate, and buthanolic fractions and the tiroliside tested on nine different human tumour cell lines showed moderately cytostatic and/or cytocide in some concentrations, but no one of the samples showed high specificity to a single one type of tumour cell. Relating to the antimicrobial activity of the extracts, fractions and isolated compounds from these two plants , using the bioauthography method, diffusion and microdilution method against Gram-positive, Gram-negative bacteria and fungi one observed that they proved to be very active against the used bacteria only in the concentrations above 50 μg, with o activity against anyone of the tested fungi. The crude extract of P distinguenda presented a significant analgesic activity, of 30 mg/kg doses using the contortion method induced by acetic acid and in the hot plate method in the 30 and 100 mg/kg/dose. Relating to the antioxidant activity the crude extract, the hexanic fraction ,dichloromethane ,ethyl acetate and tirosilide showed themselves as trapping of the free radical DPPH, only in the concentrations above 6.25μg. The tiroliside presented a discrete inhibition on the AChE enzyme activity. / Das partes aéreas de Pavonia distinguenda Saint Hilaire e Naudin foram isolados os flavonóides glicosilados tilirosídeo e astragalina, b-sitosterol livre, lupeol, taraxerol, germanicol e. das raízes de Dorstenia brasiliensis Lam., psolareno, bergapteno, umbeliferona, e sacarose os quais foram identificados pela aplicação de técnicas de RMN 1D e 2D, CG-EM. O extrato bruto de P. distinguenda apresentou um índice de citotoxicidade para larvas de Artemia salina Leach com DL50 em 6,2 μg/mL, demonstrando potencial atividade antitumoral e/ou, inseticida. Nos testes de toxicidade aguda dose única, via intraperitoneal, apresentou DL50 em 1004,9 mg/kg, (limites de confiança em 731,8 e 1422,7 mg/kg), e para administração via oral, uma DL50 em 3002,1 mg/kg (limites de confiança inferior e superior, respectivamente, em 2864,4 e 3153,1 mg/kg). O extrato bruto, as frações hexânica, diclorometano, acetato de etila, butanólica, e o flavonóide tilirosídeo testados frente a nove diferentes linhagens de células tumorais humanas mostraram-se citostáticos e/ou citocidas em algumas das concentrações, porém nenhuma das amostras mostrou-se com elevada especificidade frente a um único tipo de célula tumoral. Em relação à atividade antimicrobiana dos extratos, frações e compostos isolados destas duas plantas, pelos métodos de bioautografia, difusão em ágar e microdiluição em caldo, frente a bactérias gram-positivas, gram-negativas e fungos, observou-se que estes mostraram-se ativos contra as bactérias utilizadas, somente nas concentrações acima de 50 μg, não sendo ativos contra nenhum dos fungos testados. O extrato bruto de P. distinguenda apresentou atividade analgésica significativa, nas doses de 30 mg/kg pelo método das contorções induzidas por ácido acético, e no método da placa quente nas doses de 30 e 100 mg/kg. Com relação à atividade antioxidante, o extrato bruto, as frações hexânica, diclorometano, acetato de etila e o flavonóide tilirosídeo apresentaram-se como bons trapeadores do radical livre DPPH, nas concentrações acima de 6,25 μg.O flavonóide tilirosídeo apresentou discreta inibição na atividade da enzima AChE.

CubeSats are becoming a game changer in the space industry. Appearing first for univer-sity mission, its popularity is increasing for commercial use and for deep space missionssuch as the on HERA mission that will orbit in 2026 around an asteroid as part of aplanetary defence mission. Standardisation and industrial collaboration is key to a fastdevelopment, assuring the product quality and lower development expenditures.In this study the focus is set elaborating a low cost demonstrator platform to be usedfor developing and testing onboard software on physical hardware: a Hardware-Softwaretesting facility. The purpose of such a platform is to create an interactive and accessibleenvironment for developing on board software. The application chosen to be elaboratedon this platform is a module the subsystem of attitude and orbit control of the satelliteorbiting around asteroid.In order to create this platform the simulation of the asteroid environment of theCubeSat has been made using open source software libraries. During this task the per-formance of open source libraries has been compared to commercial alternatives. In thedevelopment of simulation different orbit perturbations have been studied by modellingthe asteroid as a cube or spheroid and additionally the effect of a third perturbing bodyand radiation pressure.As part of this project two microcontroller have been set up communicating using acommunication bus and communication protocols used for space applications to simulatehow the attitude and orbit control is commanded inside the CubeSat.

This diploma thesis is focused on testing of Electronic Control Units, especially functional testing in which hardware and software is verified and also Model in the Loop, Software in the Loop, Processor in the Loop and Hardware in the Loop testing methods. Within practical part of this thesis testing stand for functional test of the ECU was developed and manufactured. It is connected to PC via Input/Output card, testing is controlled by MATLAB script. Whole process of testing is automated from initial upload of testing firmware to tested ECU over all phases of test up to bootloader flashing. Hardware in the Loop test was also created, in which ECU works as controller and DC motor is simulated in real time with PC in MATLAB environment.

Tato práce se zabývá návrhem nového řídícího systému, odolného proti chybám, pro nestabilní samo-balancující dvoukolové vozidlo typu Segway. Původní systém vozidla je podroben analýze rizikovosti jeho součástí a na základě výsledků jsou navržena opatření pro zvýšení jeho bezpečnosti. Je navržena nová topologie řídícího systému obsahující dvě samostatné řídící jednotky, redundantní senzoriku a voter. Pro řídící jednotky byl vyvinut software obsahující bezpečnostní algoritmy a mechanismy přepínání kontrolních výstupů. V práci jsou také představeny dva matematické modely vozidla různé složitosti, které jsou následně využity při HIL testování nově navrženého systému. Celý návrh byl proveden s využitím nástrojů pro Rapid Control Prototyping.

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