Seit 2015 gibt es Doppler-LIDAR-Messungen der Windgeschwindigkeit über Leipzig. Diese Messungen werden zum einen vom HALO Photonics Streamline Doppler-LIDAR am Leipziger Institut für Troposphärenforschung (TROPOS) sowie vom Leosphere Windcube 8 Doppler-LIDAR am Leipziger Institut für Meteorologie (LIM) aufgenommen. In dieser Arbeit werden insbesondere die Daten des Windcubes bezüglich der horizontalen Windgeschwindigkeit, der Windrichtung und der Turbulenzintensität bis in eine Höhe von ca. 500 m ausgewertet. Der Vergleich mit dem HALO Photonics Streamline Doppler-LIDAR zeigt gute Korrelationen zwischen beiden Geräten. Die Ergebnisse beinhalten unter anderem eine gute Übereinstimmung mit der Ekman-Theorie. Auch die erhöhte Rauhigkeit der Stadtfläche gegenüber dem ländlichen Raum wird in der Auswertung deutlich. Es wurde ein Verfahren getestet, das es erlaubt, den turbulenten Diffusionskoeffizienten und die aerodynamische Rauhigkeitslänge aus den Messwerten abzuleiten und erste Abschätzungen dieser Größen vorzunehmen. Diese Arbeit legt nahe, den Einsatz der Fernerkundungsmessung zur Bestimmung der urbanen Grenzschichtdynamik fortzusetzen und wenn möglich zu erweitern. / Since 2015 Doppler-LIDAR measurements above Leipzig are available. The Leibniz Institute for Tropospheric Research (TROPOS) operates a HALO Photonics Streamline Doppler-LIDAR while the Institute of Meteorology Leipzig uses a Leosphere Windcube 8 Doppler-LIDAR. In this study mainly meausrements of the Windcube for horizontal wind velocity, wind direction and turbulence intensity below 500 m are evaluated. The comparison to the HALO Photonics Streamline LIDAR shows good correlations between both devices. Among others, the results include good agreements with the Ekman theory. Additionally the increased roughness of the city surface compared to rural areas becomes apparent. A way to determine characteristic quantities like the turbulent diffusion coefficient and the aerodynamic roughness length is described and initial estimations were conducted. This study suggests to continue and if possible expand such remote sensing measurements for analyses of urban boundary layer dynamics.

abstract: Wind measurements are fundamental inputs for the evaluation of potential energy yield and performance of wind farms. Three-dimensional scanning coherent Doppler lidar (CDL) may provide a new basis for wind farm site selection, design, and control. In this research, CDL measurements obtained from multiple wind energy developments are analyzed and a novel wind farm control approach has been modeled. The possibility of using lidar measurements to more fully characterize the wind field is discussed, specifically, terrain effects, spatial variation of winds, power density, and the effect of shear at different layers within the rotor swept area. Various vector retrieval methods have been applied to the lidar data, and results are presented on an elevated terrain-following surface at hub height. The vector retrieval estimates are compared with tower measurements, after interpolation to the appropriate level. CDL data is used to estimate the spatial power density at hub height. Since CDL can measure winds at different vertical levels, an approach for estimating wind power density over the wind turbine rotor-swept area is explored. Sample optimized layouts of wind farm using lidar data and global optimization algorithms, accounting for wake interaction effects, have been explored. An approach to evaluate spatial wind speed and direction estimates from a standard nested Coupled Ocean and Atmosphere Mesoscale Prediction System (COAMPS) model and CDL is presented. The magnitude of spatial difference between observations and simulation for wind energy assessment is researched. Diurnal effects and ramp events as estimated by CDL and COAMPS were inter-compared. Novel wind farm control based on incoming winds and direction input from CDL's is developed. Both yaw and pitch control using scanning CDL for efficient wind farm control is analyzed. The wind farm control optimizes power production and reduces loads on wind turbines for various lidar wind speed and direction inputs, accounting for wind farm wake losses and wind speed evolution. Several wind farm control configurations were developed, for enhanced integrability into the electrical grid. Finally, the value proposition of CDL for a wind farm development, based on uncertainty reduction and return of investment is analyzed. / Dissertation/Thesis / Ph.D. Mechanical Engineering 2013

The ability of a Doppler LIDAR (Light Detection and Ranging) system to measure the speed of a moving rail vehicle in a non-contacting manner is extended to capture the lateral and vertical irregularities of the track itself and to evaluate the rail track quality. Using two pairs of lenses to capture speed signals from both rails individually, the track speed, curvature, and lateral and vertical geometry variations on each side are determined. LIDAR lenses are installed with a slight forward angle to generate velocity signals that contain two components: 1) the left and right track speeds, and 2) any lateral and/or vertical speed caused by track motion and/or spatial irregularities. The LIDAR system collects and outputs the track information in time domain. Separating each speed component (forward, vertical, and lateral) is possible due to the inherent separation of each phenomenon with respect to its spatial/temporal frequencies and related bandwidths. For the measurements to be beneficial in practice, the LIDAR data must be spatially located along the track. A data-mapping algorithm is then simultaneously developed to spatially match the LIDAR track geometry measurements with reference spatial data, accurately locating the measurements along the track and eliminating the need for a Global Positioning System (GPS). A laboratory-grade LIDAR system with four Doppler channels, developed at the Railway Technologies Laboratory (RTL) of Virginia Tech, is body-mounted and tested onboard a geometry measurement railcar. The test results indicate a close match between the LIDAR measurements and those made with existing sensors onboard the railcar. The field-testing conducted during this study indicates that LIDAR sensors could provide a reliable, non-contact track-monitoring instrument for field use, in various weather and track conditions, potentially in a semi-autonomous or autonomous manner. A length-based track quality index (TQI) is established to quantify the track geometry condition based on the geometry data collected by the LIDAR sensors. A phenomenological rail deterioration model is developed to predict the future degradation of geometry quality over the short track segments. The introduced LIDAR's TQI is considered as the condition-parameter, and an internal variable is assumed to govern the rail geometry degradation through a deterioration rule. The method includes the historical data, current track conditions collected by the LIDAR system, and traffic data to calculate the track deterioration condition and identify the geometry defects. In addition to rail geometry inspection, a LIDAR system can potentially be used to monitor the rail surface structure and integrity. This is possible due to the fact that the Doppler shift imposed on the laser radiation reflected from a moving surface has the Doppler bandwidth broadened in proportion to the height and width of the surface features. Two LIDAR-based rail surface measures are introduced based on LIDAR measurements to identify different rail surface conditions and materials. / Ph. D.

Perceiving the dynamics of moving objects in complex scenarios is crucial for smart monitoring and safe navigation, thus a key enabler for intelligent supervision and autonomous driving. A variety of research has been developed to detect and track moving objects from data collected by optical sensors and/or laser scanners while most of them concentrate on certain type of objects or face the problem of lacking motion cues. In this thesis, we present a data-driven, model-free detection-based tracking approach for tracking moving objects in urban scenes from time sequential point clouds obtained via state-of-art Doppler LiDAR, which can not only collect spatial information (e.g. point clouds) but also Doppler images by using Doppler-shifted frequencies. In our approach, we first use Doppler images to detect moving points and determine the number of moving objects, which are then completely segmented via a region growing technique. The detected objects are then input to the tracking session which is based on Multiple Hypothesis Tracking (MHT) with two innovative extensions. One extension is that a new point cloud descriptor, <i>Oriented Ensemble of Shape Function (OESF)</i>, is proposed to evaluate the structure similarity when doing object-to-track association in MHT. Another extension is that speed information from Doppler images is used to predict the dynamic state of the moving objects, which is integrated into MHT to improve the estimation of dynamic state of moving objects. The proposed approach has been tested on datasets collected by a terrestrial Doppler LiDAR and a mobile Doppler LiDAR <a>separately</a>. The quantitative evaluation of detection and tracking results shows the unique advantages of the Doppler LiDAR and the effectiveness of the proposed detection and tracking approach.<br>

Expectations for turbine-mounted lidar are increasing. The installation of lidars in wind turbine nacelles for measuring incoming winds, preventing wind gusts and increasing energy productions is after recently studies, technically and economically feasible. Among available lidar types, the most studied were continuous wave lidars because they were the most reliable apparatus when this initiative began. However, after studying technical considerations and checking commercial lidars, it was found that pulsed lidarslead this technology due to their promising results. The purpose of this report is to fill the gap between the interest in this technology and the absence of any academic papers that analyzes continuous-wave and pulsed lidars forthe mounted lidar concept. Hence, this report discusses the importance of turbine mounted lidars for wind power industry, different possible configurations and explains why specifically pulsed lidars are becoming more important for the mounted lidarmarket.

L’industrie éolienne et l’aéronautique ont des besoins importants en matière de mesure de vent dans les premières centaines de mètres de l’atmosphère. Les lidars sont des instruments répandus et éprouvés pour ce type de mesure. Cependant, leurs qualités d’acquisition sont atténuées par un bruit de mesure systématique. En utilisant des techniques sur le filtrage nonlinéaire nous avons participé au développement d'un algorithme qui améliore l’estimation du vent et de la turbulence. Cet algorithme est basé sur une représentation de l’atmosphère par des particules fluides. Il utilise un modèle lagrangien stochastique de turbulence et un filtrage par sélection génétique. Son efficacité dépend du réglage de certains paramètres, fixés à une valeur acceptable à l’issue de la phase de développement. Mais l’influence de ces paramètres n’a jamais été étudiée. Ce travail de thèse répond à cette question par une analyse de sensibilité basée sur la décomposition de variance. De nouveaux estimateurs pour les indices de Sobol, utilisant des régression pénalisées, ont été testés. Ces estimateurs mettent les indices de Sobol les plus petits automatiquement à zéro pour faciliter l’interprétation globale. L’analyse de sensibilité permet de réduire le système à 9 entrées et 5 sorties à un système de 3 entrées (le nombre de particules, le bruit d’observation réel et le bruit d’observation donné au filtre) et 2 sorties (la pente du spectre de vent et l’erreur sur le vent). Grâce à ce système réduit, nous mettons en évidence une méthode de réglage des paramètres d’entrée les plus importants. Le bruit d’observation donné au filtre est bien réglé lorsque la pente du spectre est à la valeur cible de -5/3. Une fois ce bruit réglé, l’erreur sur le vent est minimale avec une expression connue. / Wind energy industry and airport safety are in need of atmospheric observations. Remote sensors, such as lidars, are well proven and common technology to provide wind measurements in the first hundreds of meters of altitude. However, acquisition abilities of lidars are polluted by measurement noise. Using non-linear filtering techniques, we took part at the development of an algorithm improving wind and turbulence estimations. The process is based on a representation of the atmosphere with fluid particles. It uses a stochastic Lagrangian model of turbulence and a genetic selection filtering technique. Its efficiency depends of the setting of various parameters. Their values were fixed experimentally during the development phase. But their influence has never been assessed. This work addresses this question with a variance-based sensitivity analysis. New estimators of Sobol indices, using penalized regression have been tested. These estimators ensure the lowest Sobol indices automatically go to zero so the overall interpretation is simplified. The sensitivity analysis allows to reduce the system from 5 outputs and 9 inputs to 3 inputs (number of particles, real observation noise, observation noise given to the filter) and 2 outputs (wind spectrum slope, root-mean-squared error on wind). With this reduced system we determined a procedure to correctly set the most important parameters. The observation noise given to the filter is well set when the wind spectrum slope has the expected value of -5/3. Once it is set correctly, the error on wind is minimum and its expression is known.

The primary focus of this research is evaluation of feasibility, applicability, and accuracy of Doppler Light Detection And Ranging (LIDAR) sensors as non-contact means for measuring track speed, distance traveled, and curvature. Speed histories, currently measured with a rotary, wheel-mounted encoder, serve a number of useful purposes, one significant use involving derailment investigations. Distance calculation provides a spatial reference system for operators to locate track sections of interest. Railroad curves, using an IMU to measure curvature, are monitored to maintain track infrastructure within regulations. Speed measured with high accuracy leads to high-fidelity distance and curvature data through utilization of processor clock rate and left-and right-rail speed differentials during curve navigation, respectively. Wheel-mounted encoders, or tachometers, provide a relatively low-resolution speed profile, exhibit increased noise with increasing speed, and are subject to the inertial behavior of the rail car which affects output data. The IMU used to measure curvature is dependent on acceleration and yaw rate sensitivity and experiences difficulty in low-speed conditions. Preliminary system tests onboard a 'Hy-Rail' utility vehicle capable of traveling on rail show speed capture is possible using the rails as the reference moving target and furthermore, obtaining speed profiles from both rails allows for the calculation of speed differentials in curves to estimate degrees curvature. Ground truth distance calibration and curve measurement were also carried out. Distance calibration involved placement of spatial landmarks detected by a sensor to synchronize distance measurements as a pre-processing procedure. Curvature ground truth measurements provided a reference system to confirm measurement results and observe alignment variation throughout a curve. Primary testing occurred onboard a track geometry rail car, measuring rail speed over substantial mileage in various weather conditions, providing high-accuracy data to further calculate distance and curvature along the test routes. Tests results indicate the LIDAR system measures speed at higher accuracy than the encoder, absent of noise influenced by increasing speed. Distance calculation is also high in accuracy, results showing high correlation with encoder and ground truth data. Finally, curvature calculation using speed data is shown to have good correlation with IMU measurements and a resolution capable of revealing localized track alignments. Further investigations involve a curve measurement algorithm and speed calibration method independent from external reference systems, namely encoder and ground truth data. The speed calibration results show a high correlation with speed data from the track geometry vehicle. It is recommended that the study be extended to provide assessment of the LIDAR's sensitivity to car body motion in order to better isolate the embedded behavior in the speed and curvature profiles. Furthermore, in the interest of progressing the system toward a commercially viable unit, methods for self-calibration and pre-processing to allow for fully independent operation is highly encouraged. / Ph. D.

京都大学 / 新制・課程博士 / 博士(工学) / 甲第24208号 / 工博第5036号 / 新制||工||1786(附属図書館) / 京都大学大学院工学研究科社会基盤工学専攻 / (主査)教授 中北 英一, 准教授 山口 弘誠, 教授 田中 賢治 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

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Ces travaux s'articulent autour de la détection et de la prévision des phénomènes turbulents dans la couche limite atmosphérique. Nous proposons tout d'abord une méthode stochastique innovante de reconstruction locale de l'atmosphère. Nous utilisons des systèmes de particules pour modéliser l'écoulement atmosphérique et sa variabilité interne. L'apprentissage des paramètres turbulents et la mise à jour des particules se font à l'aide d'observations mesurées par un lidar Doppler 3D. Nous présentons ensuite une nouvelle méthode de descente d'échelle stochastique pour la prévision de la turbulence sous-maille. A partir du modèle en points de grille Meso-NH, nous forçons un système de particules qui évolue à l'intérieur des mailles. Notre méthode de descente d'échelle permet de modéliser des champs sous-maille cohérents avec le modèle en points de grille. Dans un troisième et dernier temps nous introduisons les problèmes de remontée d'échelle. La reconstruction de l'atmosphère modélise la turbulence dans un volume restreint qui couvre au plus quelques mailles des modèles météorologiques en points de grille. L'objectif de la remontée d'échelle est de construire une méthode d'assimilation de l'atmosphère reconstruite. En utilisant l'algorithme de nudging direct et rétrograde, nous explorons les problèmes liés à la taille du domaine observé. Nous proposons finalement un algorithme de nudging avec apprentissage de paramètre, illustré sur un cas simple. / Our work aims to improve the turbulent phenomena detection and forecast in the atmospheric boundary layer. First, we suggest a new stochastic method to reconstruct locally the turbulent atmosphere. Particle systems are used to model the atmospheric flow and its internal variability. To update particles and lean the turbulent parameters 3D Doppler lidar measurements are used. Then, a new stochastic downscaling technic for sub-grid turbulence forecast is presented. From the grid point model Meso-NH, a sub-grid particle system is forced. Here, the particles evolve freely in the simulated domain. Our downscaling method allows to model sub-grid fields coherent with the grid point model. Next, we introduce the upscaling issue. The atmosphere reconstruction covers at best few cells of meteorological grid point models. The issue is to assimilate the reconstructed atmosphere in such models. Using the back and forth nudging algorithm, we explore the problems induced by the size of the observed domain. Finally we suggest a new way to use the back and forth nudging algorithm for parameter identification.