Στην παρούσα διπλωματική εργασία, στόχος είναι η παρατήρηση και ο σχεδιασμός παρατηρητή πλήρους αλλά και μειωμένης κατάστασης τόσο γενικά όσο και ειδικά με εφαρμογή στο σύστημα των τριών διασυνδεδεμένων δεξαμενών(Amira DTS2000).Πιο συγκεκριμένα, θα γίνει χωρισμός της διπλωματικής εργασίας σε τέσσερα(4) κεφάλαια. Το πρώτο, στο οποίο θα γίνει η παρουσίαση του μοντέλου των τριών(3) δεξαμενών (Amira DTS2000) και η σύνδεσή του με την διαδικασία της παρατήρησης και του σχεδιασμού παρατηρητή. Στο δεύτερο κεφάλαιο θα παρουσιαστούν μέθοδοι παρατήρησης που αφορούν σε μη γραμμικά συστήματα, όπως το υπό μελέτη σύστημα. Στο τρίτο κεφάλαιο με βάση όσα έχουν μελετηθεί από το δεύτερο κεφάλαιο θα γίνει σχεδίαση παρατηρητή πλήρους αλλά και μειωμένης κατάστασης και τέλος στο τέταρτο κεφάλαιο θα γίνει προσομοίωση του συστήματος σε Μatlab και για τα δυο είδη παρατηρητών και από την σύγκριση θα βγουν συμπεράσματα για το πως ο κάθε παρατηρητής επηρεάζει την απόκριση του συστήματος μας. / --

This paper presents the mathematical modeling and the design of an optimal pressure tracking controller for an often used setup in pneumatic applications. Two pneumatic chambers are connected with a pneumatic tube. The pressure in the second chamber is to be controlled using two switching valves connected to the first chamber and based on the pressure measurement in the first chamber. The optimal control problem is formulated and solved using the MPC framework. The designed controller shows good tracking quality, while fulfilling hard constraints, like maintaining the pressure below a given upper bound.

Secondary salinisation has rendered over 100 million hectares of land throughout the world, and over 5 million hectares in Australia, unsuitable for conventional agriculture. The utilization of salinised land and its associated water resources for mariculture is an adaptive approach to this environmental problem with many potential economic, social and environmental benefits. Despite this, inland mariculture is yet to develop into an industrial-scale, rural enterprise. The main aim of this study was therefore to identify and address some of the technical and biological limitations to the development of an inland finfish mariculture industry. Three technical aspects essential to the development of an Australian inland mariculture industry were reviewed; potential sources of water, the species suitable for culture in these water sources and the production systems available to produce them. Based on factors such as their quantity, quality and proximity to infrastructure, the most appropriate water sources were deemed to be groundwater obtained from interception schemes and waters from operational or disused mines. In terms of species, mulloway (Argyrosomus japonicus) were identified as having many positive attributes for inland mariculture, including being temperate and therefore having the ability to be cultured year-round in the regions where the majority of secondary salinity occurs. Seasonal production of barramundi (Lates calcarifer) in ponds in the temperate climatic zones has potential, but may be more appropriate for those salinised water sources located in the warmer parts of the country. Rainbow trout (Oncorhynchus mykiss) were also identified as having excellent potential provided water temperature can be maintained below the upper lethal limit and also have potential for seasonal production, perhaps in rotation with barramundi. In terms of production systems, pond-based culture methods were found to have many advantages specific to inland mariculture. Static ponds enable culture in areas with low groundwater yield and more cost-effective potassium supplementation compared with flow through ponds. Static ponds also largely overcome the issues associated with the disposal of salt-laden and eutrophied waste water; however yields from static ponds are typically low and limited by the nutrient input into the pond. In response to the yield constraints of static pond culture, a new culture technology known as the Semi-Intensive Floating Tank System (SIFTS) was designed, patented and constructed in collaboration with the aquaculture industry and tested in a static inland saline pond in the wheatbelt of Western Australia. This technology was designed to reduce nutrient input into ponds by the collection of settleable wastes and to provide large volumes of well-oxygenated water to the target species, to ameliorate the loss of fish from low dissolved oxygen during strong microalgal blooms. The three species identified above has having excellent potential for inland mariculture (mulloway, rainbow trout, and barramundi) were grown in SIFTS held within a 0.13 ha static, inland saline water body (salinity 14 ppt) over a period of 292 days, yielding the equivalent of 26 tonnes/ha/year (total for all three species). Rainbow trout were grown with an FCR of 0.97 from 83 to 697 grams over 111 days (SGR, 1.91%/day) between June and September, when average daily water temperatures ranged from 12.3„aC to 18.2„aC. Over the same time period, mulloway grew only from 100 to 116 grams, however, once temperatures increased to approximately 21„aC in October, feed intake increased and mulloway grew to an average size of 384 grams over 174 days with an SGR and FCR of 0.68 %/day and 1.39, respectively. Barramundi stocked in November with an average weight of 40 grams increased to 435 grams in 138 days (SGR 1.73%/day) with an FCR of 0.90. The SIFTS significantly reduced nutrient input into the pond by removing settleable wastes as a thick sludge with a dry matter content of 5 to 10%. The total quantity of dry waste removed over the 292 day culture period was 527 kg (5 tonnes/ha/yr), which was calculated to contain 15 kg of nitrogen (144 kg/ha/yr) and 16 kg of phosphorus (153 kg/ha/yr). The release of soluble nutrients into the pond resulted in blooms of macro- and micro- algae which caused large and potentially lethal diurnal fluctuations in dissolved oxygen within the pond, however, comparatively stable levels of dissolved oxygen were maintained within each SIFT through the use of air lift pumps. It is well documented that saline groundwater is deficient in potassium which, depending on the extent of the deficiency, can negatively impact on the performance of marine species, including fish. The physiological effects of this deficiency on fish, however, have not been previously described. As such, I conducted a bioassay investigating the physiological effects of a hypersaline (45 ppt) groundwater source containing 25% of the potassium found in equivalent salinity seawater (i.e. 25% K-equivalence) on juvenile barramundi. Histopathological examination of moribund fish revealed severe degeneration and necrosis of skeletal muscles, marked hyperplasia of branchial chloride cells and renal tubular necrosis. Clinical chemistry findings included hypernatraemia and hyperchloridaemia of the blood plasma and lowered muscle potassium levels. It was concluded from this study that the principal cause of death of these barramundi was skeletal myopathy induced by unsustainable buffering of blood plasma potassium levels from the muscle. Although such hypokalaemic muscle myopathies have been previously described in mammals and birds, this was the first description of such myopathies in fish. It was hypothesized from the results described above that the physiological effects of potassium deficiency are dependent on salinity and that they would be ameliorated by potassium supplementation. These predictions were tested in a subsequent study which measured the effects of potassium supplementation between 25% and 100% K-equivalence on the growth, survival and physiological response of juvenile barramundi at hyperosmotic (45 ppt), near-isosmotic (15 ppt) and hyposmotic (5 ppt) salinities. Unlike those juvenile barramundi reared at 45 ppt and 25% K-equivalence in the previous study, those reared in 50% K-equivalence water at 45 ppt in this study survived for four weeks but lost weight; whereas at 75% and 100% K-equivalences fish both survived and gained weight. Homeostasis of blood plasma potassium was maintained by buffering from skeletal muscle. Fish reared in 50% K-equivalence at this salinity exhibited muscle dehydration, increased branchial, renal and intestinal (Na+-K+)ATPase activity and elevated blood sodium and chloride, suggesting they were experiencing osmotic stress. At 15 ppt, equal rates of growth were obtained between all K-equivalence treatments. Buffering of plasma potassium by muscle also occurred but appeared to be in a state of equilibrium. Barramundi at 5 ppt displayed equal growth among treatments. At this salinity, buffering of plasma potassium from muscle did not occur and at 25% K-equivalence blood potassium was significantly lower than at all other K-equivalence treatments but with no apparent effect on growth, survival or (Na+-K+)ATPase activities. These data confirmed the hypothesis that proportionally more potassium is required at hyperosmotic salinities compared to iso- and hypo- osmotic salinities and also demonstrated that barramundi have a lower requirement for potassium than other marine and estuarine species being investigated for culture in inland saline groundwater. In addition to ongrowing fish, saline groundwater has potential for hatchery production. Specific advantages include the vertical integration of inland saline farms and the production of disease-free certified stock through isolation from the pathogens and parasites found naturally in coastal water. To determine the potential of utilizing inland saline groundwater for hatchery production, barramundi larvae were reared from 2 to 25 days post hatch in 14 ppt saline groundwater with either no potassium supplementation (38% K-equivalence) or full potassium supplementation (100% K-equivalence). Growth, survival and swimbladder inflation of these larvae were compared against those grown in control treatments of seawater (32 ppt) and seawater diluted to 14 ppt. Those reared in saline groundwater with 38% K-equivalence exhibited complete mortality within 2 days, whilst those held in groundwater with full supplementation survived at a rate equal to both control treatments (pooled average 51.1 ¡Ó 0.5%). At 25 days post hatch, there was no significant difference in larval length or dry weight between those grown in the 14 ppt control treatment and those in the saline groundwater with full potassium supplementation. There were no significant differences in swim bladder inflation between any of the surviving treatments (average 93.3 ¡Ó 2.5%). This is the first description of rearing barramundi larvae both in low salinity seawater and in saline groundwater, and demonstrates that the requirement for potassium by larval barramundi is higher than for juveniles of the same species. In addition to a deficiency in potassium, saline groundwater in Western Australia often contains an elevated concentration of manganese relative to seawater as a result of anaerobic reduction of manganese oxides or the pedogenic weathering of manganese-bearing rock. The effects of elevated manganese on marine or estuarine fish have not been described and a study was therefore conducted to determine if manganese, at a concentration typical of that found in saline groundwater, has any impact on fish. The effects of 5 mg/L of dissolved manganese on juvenile mulloway at salinities of 5, 15 and 45 ppt were determined by comparing the survival, growth and blood and organ chemistry with those grown at the same salinities without manganese addition. Survival of mulloway at 45 ppt in the presence of 5 mg/L of manganese (73 ¡Ó 13%) was significantly lower than all other treatments, which achieved 100% survival. Those fish grown in seawater without manganese exhibited rapid growth, which was not affected by salinity (SGR = 4.05 ¡Ó 0.29%/day). Those fish grown at 5 ppt and 45 ppt in the presence of manganese lost weight over the two week trial (SGR 0.17 ¡Ó 0.42 and -0.44 ¡Ó 0.83%/day, respectively), whilst those at 15 ppt gained only a small amount of weight (SGR 1.70 ¡Ó 0.20%/day). Growth was therefore affected by manganese and by the interaction of manganese and salinity, but not salinity alone. Manganese was found to accumulate in the gills, liver and muscle of the fish. No gill epithelial damage or other significant histological findings were found, however, significant differences in blood chemistry were observed. Blood sodium and chloride of manganese exposed fish were significantly elevated in hyperosmotic salinity (45 ppt) and depressed at hyposmotic salinity (5 ppt) compared with unexposed fish; consistent with manganese causing apoptosis or necrosis to chloride cells. Blood potassium was significantly elevated and liver potassium significantly reduced at all salinities in the presence of manganese. These findings are consistent with manganese interfering with carbohydrate metabolism. There were no differences in blood sodium, chloride or potassium across salinities in fish not exposed to manganese, demonstrating mulloway are capable of efficient osmoregulation across this salinity range.

MELO, F. E. M. Modeling and linear parameter-varying identification of a two-tank system. 2017. 82 f. Dissertação (Mestrado em Engenharia Elétrica)–Centro de Tecnologia, Universidade Federal do Ceará, Fortaleza, 2017. / Submitted by Marlene Sousa (mmarlene@ufc.br) on 2017-09-06T17:29:24Z No. of bitstreams: 1 2017_dis_femmelo.pdf: 6250467 bytes, checksum: 7ec83fc628244552eb74ae6b40c6fbc0 (MD5) / Approved for entry into archive by Marlene Sousa (mmarlene@ufc.br) on 2017-09-06T17:30:18Z (GMT) No. of bitstreams: 1 2017_dis_femmelo.pdf: 6250467 bytes, checksum: 7ec83fc628244552eb74ae6b40c6fbc0 (MD5) / Made available in DSpace on 2017-09-06T17:30:18Z (GMT). No. of bitstreams: 1 2017_dis_femmelo.pdf: 6250467 bytes, checksum: 7ec83fc628244552eb74ae6b40c6fbc0 (MD5) Previous issue date: 2017-07-18 / This work addresses the modeling and the linear parameter-varying (LPV) system identification of a coupled two-tank system (TTS). The system is a multiple input multiple output (MIMO) with two inputs and two outputs. In order to obtain a suitable model for this system, a first-principle approach based on the mass balance principle is followed. It turns out that the modeling process was driven by the geometrical shape of the tanks. Thus, most of its parameters are based on the tanks’ dimensions. When it comes to the LPV identification, several methods are presented ranging from the classical results from the regression approach to the current support vector machines (SVM) based methods. All the identification algorithms presented are extended in order to cope with the MIMO systems. Additionally, a method based on instrumental variables support vector machines was adapted from the general nonlinear case to the LPV case. A new LPV model with two independent scheduling variables is proposed driven by prior knowledge on the process model. The results obtained with this new LPV model have showed a good performance in describing the TTS behavior. Furthermore, they were better than an LPV model considering only a single scheduling variable. / Este trabalho lida com a modelagem e identificação com abordagem de sistemas com parâmetros variantes (LPV) de um sistema de dois tanques acoplados (TTS). Esse sistema é do tipo múltipla entrada múltipla saída (MIMO) com duas entradas e duas saídas. Com a finalidade de obter um modelo adequado para esse sistema, é feita uma abordagem fenomenológica baseada no princípio do balanço de massa. Descobre-se que o processo de modelagem é dependente da forma geométrica dos tanques. Assim, a maioria dos seus parâmetros são baseados nas dimensões dos tanques. Quando se trata de identificação de sistemas LPV, vários métodos são apresentados desde os resultados clássicos baseados em regressão até os métodos atuais baseados em máquinas de vetor de suporte. Todos os algoritmos de identificação apresentados são estendidos para lidar com sistemas MIMO. Além disso, um método baseado em variáveis instrumentais com máquinas de vetor de suporte foi adaptado do caso não linear geral para o caso LPV. Um novo modelo LPV com duas variáveis de scheduling é proposto baseado em conhecimento a priori no modelo do processo. Os resultados obtidos com esse novo modelo LPV mostraram bom desempenho ao descrever o comportamento do sistema de dois tanques. Ademais, eles foram melhores do que um modelo LPV considerando apenas uma variável de scheduling.

An optimal stochastic feedforward-feedback control scheme is implemented on a heat exchanger-stirred tank system using an on-line minicomputer. Because variations in the measured disturbance variable have an effect on the output controlled variable before compensating action can become effective, the feedforward action must be predictive in nature. Statistical time series models are used to model both the measured disturbance and the unobserved disturbances in the system. These stochastic disturbance models and the transfer function models for the process are identified, fitted and checked using statistical model building procedures on a set of data collected on-line using the minicomputer. The predictive feedforward-feedback controller is derived from these models. The performance of the control scheme is compared with that of a pure feedback control scheme and the actual performances are shown to conform well to the theory. / Thesis / Master of Engineering (ME)

Increasing demands regarding performance, safety and environmental compatibility of hydraulic mobile machines in combination with rising cost pressures create a growing need for specialized optimization of hydraulic systems; particularly with regard to hydraulic reservoirs. In addition to the secondary function of cooling the oil, two main functions of the hydraulic reservoir are oil storage and de-aeration of the hydraulic oil. While designing hydraulic reservoirs regarding oil storage is quite simple, the design regarding de-aeration can be quite difficult. The author presents an approach to a system optimization of hydraulic reservoirs which combines experimental and numerical techniques to resolve some challenges facing hydraulic tank design. Specialized numerical tools are used in order to characterize the de-aeration performance of hydraulic tanks. Further the simulation of heat transfer is used to study the cooling function of hydraulic tank systems with particular attention to plastic tank solutions. To accompany the numerical tools, experimental test rigs have been built up to validate the simulation results and to provide additional insight into the design and optimization of hydraulic tanks which will be presented as well.

Made available in DSpace on 2014-12-17T14:08:47Z (GMT). No. of bitstreams: 1 JeanCSG_DISSERT.pdf: 2590836 bytes, checksum: a8999e4e7cb4dfe6cb037286ddf5336d (MD5) Previous issue date: 2011-05-27 / Currently the uncertain system has attracted much academic community from the standpoint of scientific research and also practical applications. A series of mathematical approaches emerge in order to troubleshoot the uncertainties of real physical systems. In this context, the work presented here focuses on the application of control theory in a nonlinear dynamical system with parametric variations in order and robustness. We used as the practical application of this work, a system of tanks Quanser associates, in a configuration, whose mathematical model is represented by a second order system with input and output (SISO). The control system is performed by PID controllers, designed by various techniques, aiming to achieve robust performance and stability when subjected to parameter variations. Other controllers are designed with the intention of comparing the performance and robust stability of such systems. The results are obtained and compared from simulations in Matlab-simulink. / Atualmente os sistemas que qpresentam incertezas t?m atra?do muito a comunidade acad?mica do ponto de vista da investiga??o cient?fica e tamb?m das aplica??es pr?ticas. Uma s?rie de abordagens matem?ticas surgem com o objetivo de resolver problemas relacionados ?s incertezas de sistemas f?sicos reais. Nesse contexto, o trabalho aqui apresentado tem como foco a aplica??o da teoria de controle em um sistema din?mico n?o linear e com varia??es param?tricas visando a robustez. Utilizamos, como aplica??o pr?tica deste trabalho, um sistema de tanques associados da Quanser, em uma configura??o cujo modelo matem?tico ? representado por um sistema de segunda ordem com uma entrada e uma sa?da (SISO). O controle do sistema ? realizado por controladores PIDs, projetados por diversas t?cnicas, objetivando alcan?ar o desempenho e estabilidade robusta, quando submetido a varia??es de par?metros. Outros controladores s?o projetados com esse mesmo intuito e os resultados obtidos s?o comparados a partir de simula??es realizadas no Matlabsimulink.

This paper presents the mathematical modeling and the design of an optimal pressure tracking controller for an often used setup in pneumatic applications. Two pneumatic chambers are connected with a pneumatic tube. The pressure in the second chamber is to be controlled using two switching valves connected to the first chamber and based on the pressure measurement in the first chamber. The optimal control problem is formulated and solved using the MPC framework. The designed controller shows good tracking quality, while fulfilling hard constraints, like maintaining the pressure below a given upper bound.

Increasing demands regarding performance, safety and environmental compatibility of hydraulic mobile machines in combination with rising cost pressures create a growing need for specialized optimization of hydraulic systems; particularly with regard to hydraulic reservoirs. In addition to the secondary function of cooling the oil, two main functions of the hydraulic reservoir are oil storage and de-aeration of the hydraulic oil. While designing hydraulic reservoirs regarding oil storage is quite simple, the design regarding de-aeration can be quite difficult. The author presents an approach to a system optimization of hydraulic reservoirs which combines experimental and numerical techniques to resolve some challenges facing hydraulic tank design. Specialized numerical tools are used in order to characterize the de-aeration performance of hydraulic tanks. Further the simulation of heat transfer is used to study the cooling function of hydraulic tank systems with particular attention to plastic tank solutions. To accompany the numerical tools, experimental test rigs have been built up to validate the simulation results and to provide additional insight into the design and optimization of hydraulic tanks which will be presented as well.

Clean and safe water is important for the well being of all organisms on earth. Therefore, it is important to reduce harmful emissions from industrial processes that use water in different ways. In vehicle washing processes, water is used in high-pressure processes, as a medium for detergents, and for rinsing of vehicles. The wastewater produced by these functions passes through a water reclamation system. A water reclamation system has two main functions, to produce reusable water to be used in future washing cycles, and to separate contaminants and purify the wastewater so it can be released back into the commercial grid. The reclamation system achieves this by using a combination of different water handling processes, these include: sludge tanks, an oil-water separator, a water reclamation unit, buffer tanks, and a water purification unit. The two components that stand for the more advanced cleaning processes are the water reclamation unit and the water purification unit. In this thesis, in collaboration with the company Westmatic, the water reclamation unit consists of cyclone separators that use centrifugal forces to separate heavy particles and ozone treatment to break up organic substances and combat bad odors. The Purification unit of choice is an electrocoagulation unit that, by a direct current, creates flocculants of impurities that rises to the surface and can be mechanically removed in a water volume inside the unit. This purification process is completely chemical-free thus making the process more environmentally friendly than other purification processes used in other circumstances. This master thesis aimed to develop a dynamic design tool for a modular solution of the different parts in the water reclamation system. This design tool uses specific user input to produce construction information for each instance. As an additional sub-aim, this design tool was linked with a computer-aided design program to produce parametric 3D models with underlying blueprints. This to produce a light solution, that has a short manufacturing time and that are highly customer adjusted. The first course of action was to mathematically define the complete water reclamation system and its components. These sections were described in a flowchart that shows how the different parts interact and operate. From the wash station, wastewater runs trough a course- and fine-sludge tank. From the fine sludge tank, the wastewater is directed in two different directions. Firstly, the water is pumped to the water reclamation unit and to one or multiple buffer tanks to finally be used in the wash station as reclaimed water. Secondly, the water travels to an oil separator, pump chamber, and water purification unit. In the purification unit, 99% of the inlet mass is directed out of the system as purified water. The remaining 1% is directed to a depot that acts like the end stage of the whole system. After all equations were defined and the design was related to the user-defined input flow the design tool was structured. The program of choice to house the design tool is Microsoft Excel. In this Excel document, a user interface with navigation was constructed and the intended user is directed through a series of input pages where input data is defined. This data is used in a normally hidden page where constructional dimensions are calculated. The constructional dimensions are displayed to the user on the second last page. At this stage the Excel document can be connected to a CAD program and 3D models with blueprints can be opened that depend on the output from the Excel file. Additionally, a pipe calculator is provided on the last page of the Excel document where pipe dimensions for different cases can be found. With this solution, glass fiber tanks are molded according to the resulting blueprints that are customer specific. In this way the solution is more adaptive and easier to handle. Additionally, the provided design tool enables an easier and more well-defined methodology when deriving the different needed volume and accompanied constructional dimensions for an arbitrary water reclamation system.