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The aim of this thesis is to optimize hydro power plants with data generated from observations and field tests at the plants. The output is optimal production tables and curves in order to operate and plan hydro power plants in an optimized way concerning power output, efficiency and distribution of water. The thesis is performed in collaboration with Vattenfall AB, which currently use an internal optimization program called SEVAP. Two alternative methods have been selected, employed and compared with the current optimization program, these are Interior-Point Method and Sequential Quadratic Programming. Three start-point strategies are created to increase the probability of finding a global optima. A heuristic rule is used for selection of strategy in order to prevent rapid changes in load distribution for small variations in dispatched water. The optimization is performed at three plants in Sweden with different size and setup. The results of this evaluation showed marginally better results for the employed methods in comparison to the currently used optimization. Further, the developed program is more flexible and compatible to integrate with future digitalization projects. / Syftet med detta examensarbete är att optimera vattenkraftverk med data som genererats från indextester vid kraftverken. Resultatet är optimala produktionstabeller och kurvor för drift och planering av vattenkraftverk. Dessa är baserade på att optimalt fördela vattnet mellan aggregaten för att maximera uteffekt och verkningsgrad. Detta arbete har utförts i samarbete med Vattenfall AB, som för närvarande använder ett internt optimeringsprogram som heter SEVAP. Två optimeringsmetoder har valts, implementerats och jämförts med det nuvarande optimeringsprogrammet. Dessa metoder är inrepunktsmetoden (IPM) och sekventiell kvadratiskt programmering (SQP). Tre startpunktsstrategier har används för att öka sannolikheten att hitta ett globalt optima. För att förhindra hastiga förändringar i lastfördelning för små variationer av avsänt vatten har en heuristisk regel används. Optimeringen har utförts på tre stationer med olika uppsättning och storlek. Resultatet av detta examensarbete visar marginellt bättre resultat för de använda metoderna i jämförelse med den nuvarande optimeringen. Det utvecklade programmet är flexibelt och kompatibelt att integrera med framtida digitaliseringsprojekt.

No description available.

Un robot humanoïde est un système complexe doté de nombreux degrés de liberté, et dont le comportement est sujet aux équations non linéaires du mouvement. Par conséquent, la planification de mouvement pour un tel système est une tâche difficile d'un point de vue calculatoire. Dans ce mémoire, nous avons pour objectif de développer une méthode permettant d'utiliser la puissance de calcul des GPUs dans le contexte de la planification de mouvement corps-complet basée sur de l'optimisation. Nous montrons dans un premier temps les propriétés du problème d'optimisation, et des pistes d'étude pour la parallélisation de ce dernier. Ensuite, nous présentons notre approche du calcul de la dynamique, adaptée aux architectures de calcul parallèle. Cela nous permet de proposer une implémentation de notre problème de planification de mouvement sur GPU: contraintes et gradients sont calculés en parallèle, tandis que la résolution du problème même se déroule sur le CPU. Nous proposons en outre une nouvelle paramétrisation des forces de contact adaptée à notre problème d'optimisation. Enfin, nous étudions l'extension de notre travail au contrôle prédictif. / A humanoid robot is a complex system with numerous degrees of freedom, whose behavior is subject to the nonlinear equations of motion. As a result, planning its motion is a difficult task from a computational perspective.In this thesis, we aim at developing a method that can leverage the computing power of GPUs in the context of optimization-based whole-body motion planning. We first exhibit the properties of the optimization problem, and show that several avenues can be exploited in the context of parallel computing. Then, we present our approach of the dynamics computation, suitable for highly-parallel processing architectures. Next, we propose a many-core GPU implementation of the motion planning problem. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. Because each constraint and its gradient can be evaluated independently for each time interval, we end up with a highly parallelizable problem that can take advantage of GPUs. We also propose a new parametrization of contact forces adapted to our optimization problem. Finally, we investigate the extension of our work to model predictive control.

O atrito em válvulas e a sintonia inadequada de controladores são duas das maiores causas de degradação no desempenho das malhas de controle que incluem tais dispositivos. Assim como modelos de atrito são necessários para diagnosticar o mau funcionamento das válvulas ou para compensar os efeitos indesejáveis causados pelo atrito, modelos de processos são de fundamental importância para o projeto de controladores. Este trabalho estende métodos existentes para estimar parâmetros de modelos de atrito e processo, de modo que uma estrutura não-linear é adotada para representar o processo. O procedimento é baseado em dados de operação em malha fechada. Os algoritmos de estimação desenvolvidos são testados com dados simulados e gerados por uma plataforma híbrida (composta por uma válvula real e por uma planta simulada de neutralização de pH), a partir da qual avaliam-se as influências de perturbações, da magnitude do sinal de teste e da sintonia do controlador nos modelos estimados. Os resultados demonstram que o nível de atrito é corretamente quantificado, assim como bons modelos para o processo são estimados em diversas situações. Além disso, a extensão proposta apresenta vantagens significativas em relação a outros métodos, como: (1) maior exatidão na quantificação do nível de atrito, principalmente para processos em que as não-lineares sejam mais severas e (2) estimativas razoáveis do comportamento estático não-linear. / The friction in control valves and inadequate controller tuning are two of the major sources of performance degradation in control loops that include such devices. As friction models are needed to diagnose abnormal valve operation or to compensate such undesirable effects, process models play an essential role in controller design. This work extends existing methods that jointly identify the friction and process model parameters, so that a nonlinear structure is adopted to represent the process model. The procedure is based on data from closed-loop experiments. The developed estimation algorithms are tested with data from simulations and generated by a hybrid setup (composed of a real valve and a simulated pH neutralization process), in which the influences of the process disturbances, of the excitation signal magnitude and of the controller tuning on estimated models are investigated. The results demonstrate that the friction is accurately quantified, as well as good process models are estimated in several situations. In addition, the proposed extension presents significant advantages in relation to other methods, such as: (1) greater accuracy for friction quantification, especially for highly nonlinear processes and (2) reasonable estimates of the nonlinear steady state characteristics.

Manufacturing outsourcing in the U.S. has never been stronger than it is today. Increased outsourcing has led to significant changes in the design of the retail distribution network. While the traditional distribution network had the manufacturing plants supplying goods to the retail stores directly, the off-shore manufacturing has increased the network's demand for transportation and warehousing to deliver the goods. Thus, most companies have a complex distribution network with several import and regional distribution centers (RDC). In this thesis, we study an integrated facility location and inventory allocation problem for designing a distribution network with multiple national (import) distribution centers (NDC) and retailers. The key decisions are where to locate the RDCs and how much inventory to hold at the different locations such that the total network cost is minimized under a pre-defined operational rule for the distribution of goods. In particular, the inventory cost analysis is based on the continuous review batch ordering policy and the base-stock policy. Both Type-I (probability of stock-outs) and Type-II (fill-rate) service level measures are used in the analysis. Two different models are presented in this thesis for solving the integrated facility location-inventory allocation problem. The first model, continuous approximation (CA), assumes the distribution network to be located in a continuous region and replaces the discrete store locations with a store density function. The second model is a discrete representation of the problem as a mixed integer programming problem. Both the models take a nonlinear form and solution techniques are developed using the theory of nonlinear programming and linear reformulation of nonlinear problems. The goal of the first part of the thesis is to model the problem using a modified CA approach and an iterative solution scheme is presented to solve it. The main contribution of this work lies in developing a refined CA modeling technique when the discrete data cannot be modeled by a continuous function. In addition, the numerical analysis suggests that the total network cost is significantly lower in the case of the integrated model as compared with the non-integrated model. It is also shown that the regular CA approach leads to a solution which is inferior to the solution obtained by the modified CA approach. Our analysis shows that the type of service measure used affects the network design. In the second part of the thesis, the problem is modeled as a nonlinear mixed integer program and a linear reformulation solution technique is proposed to obtain a lower bound on the original problem. Computational results are presented for small problem instances. We conclude this part of the thesis by presenting an integrated model when a base stock inventory policy is used. A drop-decomposition heuristic is proposed to solve this problem.

Submitted by Moisés Rodrigues Cirilo do Monte (moisesrcm@hotmail.com) on 2018-03-16T22:02:40Z No. of bitstreams: 1 Tese_Moises.pdf: 754268 bytes, checksum: e5d5247fc1d88dad53af04230ccf74dd (MD5) / Approved for entry into archive by Elza Mitiko Sato null (elzasato@ibilce.unesp.br) on 2018-03-20T17:08:48Z (GMT) No. of bitstreams: 1 monte_mrc_dr_sjrp.pdf: 754268 bytes, checksum: e5d5247fc1d88dad53af04230ccf74dd (MD5) / Made available in DSpace on 2018-03-20T17:08:48Z (GMT). No. of bitstreams: 1 monte_mrc_dr_sjrp.pdf: 754268 bytes, checksum: e5d5247fc1d88dad53af04230ccf74dd (MD5) Previous issue date: 2018-03-09 / O problema de otimização com tempo contínuo consiste em maximizar um funcional integral, sujeito a restrições de igualdade e desigualdade, onde as funções envolvidas pertencem a um espaço de Banach e variam num certo intervalo de tempo. Os resultados obtidos fornecem condições necessárias para que uma determinada função seja solução do problema. Qualificações de restrições são estabelecidas a m de se obter tais condições necessárias de otimalidade. Para problemas com restrições de desigualdade apenas, faz-se uso de um teorema de alternativa generalizado para se obter condições tipo Karush-Kuhn-Tucker. Para tratar problemas com restrições de igualdade e desigualdade, teoremas da função implícita uniforme e da aplicação inversa uniforme são necessários. / The continuous-time nonlinear programming problem consists in maximizing an integral functional, subject to equality and inequality constraints, where the involved functions belong to a Banach Space and vary over a certain period of time. The obtained results provide the necessary conditions for a given function to solve the problem. Constraints quali cation are established in order to achieve such necessary optimality conditions. For problems with inequality constraints only, a generalized alternative theorem is used to obtain Karush-Kuhn-Tucker-type conditions. To address problems with equality and inequality constraints, uniform implicit function and uniform inverse mapping theorems are necessary.

O atrito em válvulas e a sintonia inadequada de controladores são duas das maiores causas de degradação no desempenho das malhas de controle que incluem tais dispositivos. Assim como modelos de atrito são necessários para diagnosticar o mau funcionamento das válvulas ou para compensar os efeitos indesejáveis causados pelo atrito, modelos de processos são de fundamental importância para o projeto de controladores. Este trabalho estende métodos existentes para estimar parâmetros de modelos de atrito e processo, de modo que uma estrutura não-linear é adotada para representar o processo. O procedimento é baseado em dados de operação em malha fechada. Os algoritmos de estimação desenvolvidos são testados com dados simulados e gerados por uma plataforma híbrida (composta por uma válvula real e por uma planta simulada de neutralização de pH), a partir da qual avaliam-se as influências de perturbações, da magnitude do sinal de teste e da sintonia do controlador nos modelos estimados. Os resultados demonstram que o nível de atrito é corretamente quantificado, assim como bons modelos para o processo são estimados em diversas situações. Além disso, a extensão proposta apresenta vantagens significativas em relação a outros métodos, como: (1) maior exatidão na quantificação do nível de atrito, principalmente para processos em que as não-lineares sejam mais severas e (2) estimativas razoáveis do comportamento estático não-linear. / The friction in control valves and inadequate controller tuning are two of the major sources of performance degradation in control loops that include such devices. As friction models are needed to diagnose abnormal valve operation or to compensate such undesirable effects, process models play an essential role in controller design. This work extends existing methods that jointly identify the friction and process model parameters, so that a nonlinear structure is adopted to represent the process model. The procedure is based on data from closed-loop experiments. The developed estimation algorithms are tested with data from simulations and generated by a hybrid setup (composed of a real valve and a simulated pH neutralization process), in which the influences of the process disturbances, of the excitation signal magnitude and of the controller tuning on estimated models are investigated. The results demonstrate that the friction is accurately quantified, as well as good process models are estimated in several situations. In addition, the proposed extension presents significant advantages in relation to other methods, such as: (1) greater accuracy for friction quantification, especially for highly nonlinear processes and (2) reasonable estimates of the nonlinear steady state characteristics.

Orientadores: Fernando Jose Von Zuben, Leandro Nunes de Castro / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-14T19:14:33Z (GMT). No. of bitstreams: 1 Franca_FabricioOlivettide_M.pdf: 2824607 bytes, checksum: 3de6277fbb2c8c3460d62b4d81d14f73 (MD5) Previous issue date: 2005 / Resumo: Esta dissertação propõe algoritmos bio-inspirados para a solução de problemas de otimização dinâmica, ou seja, problemas em que a superfície de otimização no espaço de busca sofre variações diversas ao longo do tempo. Com a variação, no tempo, de número, posição e qualidade dos ótimos locais, as técnicas de programação matemática tendem a apresentar uma acentuada degradação de desempenho, pois geralmente foram concebidas para tratar do caso estático. Algoritmos populacionais, controle dinâmico do número de indivíduos na população, estratégias de busca local e uso eficaz de memória são requisitos desejados para o sucesso da otimização dinâmica, sendo contemplados nas propostas de solução implementadas nesta dissertação. Os algoritmos a serem apresentados e comparados com alternativas competitivas presentes na literatura são baseados em funcionalidades e estruturas de processamento de sistemas imunológicos e de colônias de formigas. Pelo fato de considerarem todos os requisitos para uma busca eficaz em ambientes dinâmicos, o desempenho dos algoritmos imuno-inspirados se mostrou superior em todos os critérios considerados para comparação dos resultados dos experimentos. / Abstract: This dissertation proposes bio-inspired algorithms to solve dynamic optimization problems, i.e., problems for which the optimization surface on the search space suffers several changes over time. With such variation of number, position and quality of local optima, mathematical programming techniques may present degradation of performance, because they were usually conceived to deal with static problems. Population-based algorithms, dynamic control of the population size, local search strategies and an efficient memory usage are desirable requirements to a proper treatment of dynamic optimization problems, thus being incorporated into the solution strategies implemented here. The algorithms to be presented, and compared with competitive alternatives available in the literature, are based on functionalities and processing structures of immune systems and ant colonies. Due to the capability of incorporating all the requirements for an efficient search on dynamic environments, the immune-inspired approaches overcome the others in all the performance criteria adopted to evaluate the experimental results. / Mestrado / Engenharia de Computação / Mestre em Engenharia Elétrica

Orientador : Anesio dos Santos Junior / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação / Made available in DSpace on 2018-08-03T23:25:26Z (GMT). No. of bitstreams: 1 Carvalho_EsdrasPenedode_D.pdf: 1776464 bytes, checksum: 0190f59fa01ca49b0518113d289152c6 (MD5) Previous issue date: 2004 / Doutorado / Automação / Doutor em Engenharia Elétrica