Les systèmes de rafraîchissement d'air basés sur des échangeur-stockeurs composés de Matériaux à Changement de Phase (MCP) sont une alternative possible aux systèmes de climatisation pour le confort d'été dans les bâtiments. Toutefois, les performances de tels systèmes de rafraîchissement sont étroitement liées aux conditions climatiques et aux configurations des bâtiments à rafraîchir. L'objectif de ce travail de thèse est de développer un outil d'aide à la conception permettant un pré-dimensionnement optimal de systèmes de rafraîchissement d'air utilisant des MCP dès le stade de la conception préliminaire. Un modèle thermique dynamique simulant le comportement d'un échangeur-stockeur air/MCP est donc développé puis couplé à une plateforme logicielle de simulation thermique dynamique du bâtiment. Les modèles d'échangeur-stockeurs et de co-simulation sont validés à l'aide d'expériences menées sur deux prototypes d'échangeur-stockeur et la plateforme expérimentale de maison à énergie positive NAPEVOMO. Enfin un premier outil d'aide à la conception utilisant un algorithme d'optimisation est développé pour définir une configuration optimale de système maintenant le confort estival dans la maison NAPEVOMO. / Air-cooling systems using latent heat thermal energy storage (LHTES) are potential alternatives to air-conditioners for summer climate control in buildings. However, the performances of such systems are tightly linked to weather conditions and the configuration of the building to be cooled. The aim of this doctoral work is to develop a design support tool allowing optimally dimensioning an air-cooling system using phase change material at the preliminary design stage. A dynamic thermal model, simulating the behaviour an LHTES device exchanging with air, is developed and coupled with a building performance program. The LHTES and the co-simulation models are validated by comparison with experiments carried out on two prototypes of LHTES device and the experimental platform of zero energy building NAPEVOMO. Finally, a first design support tool using genetic algorithm is developed to define the optimal configuration of an air-cooling system for the summer comfort in « NAPEVOMO » house.

Ce travail s’inscrit dans le cadre de la conception et réalisation d’un robot d’assistance à la personne. Dans cette thèse, nous nous intéressons particulièrement à la conception, à la modélisation et à la commande d’un robot manipulateur mobile. La conception mécanique couplée à un outil de simulation dynamique multi-corps nous a permis d’obtenir un modèle virtuel très réaliste. Le modèle cinématique du système a été obtenu en utilisant la méthode D-H modifiée. L’approche Bond graph et la méthode de Lagrange ont permis de construire le modèle dynamique. Un algorithme hybride qui combine la pseudoinverse du jacobien et la méthode RRT a été proposé pour la planification de mouvement d’un manipulateur redondant et rechercher de configurations continues, stables et sans collision. Un contrôleur basé sur les réseaux de neurones a été introduit pour la commande coordonnée d’un manipulateur mobile. Cette méthode ne nécessite pas un modèle précis du robot. Les paramètres inconnus sont identifiés et compensés en utilisant des réseaux de neurones RBF. Un algorithme de contrôle similaire est présenté pour la commande force/position d’un manipulateur mobile qui est soumis à des contraintes holonomes et nonholonomes. L’étude de la main robotique a été effectuée séparément avant d’être couplée au reste du système. Les modèles cinématique et dynamique du système main-objet ont été obtenus en utilisant les approches mathématiques et bond graph. Un algorithme est proposé afin d’assurer une prise ferme, éviter les dérapages et suivre les mouvements désirés. Les validations des modèles et des différentes lois de commande ont été effectuées grâce à la co-simulation Matlab/modèle virtuel / The purpose of this thesis is to design, model and control of a personal assistant robot used for domestic tasks. In order to make the robot’s design more efficient, a virtual simulation system is built using dynamic simulation software. The kinematic model is set up based on modified D-H principle. The dynamic model is built using the Lagrange theorem and elaborated in Matlab. We also employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A hybrid algorithm of combining the Jacobian pseudoinverse algorithm with Rapidly-Exploring Random Tree method is presented for collision-free path planning of a redundant manipulator. An intelligent robust controller based on neural network is introduced for the coordinated control of a mobile manipulator. This method does not require an accurate model of the robot. Unknown dynamic parameters of the mobile platform and the manipulator are identified and compensated in closed-loop control using RBF neural network. A similar control algorithm is presented for coordinated force/motion control of a mobile manipulator suffering both holonomic and nonholonomic constraints. Kinematics and dynamics of a dexterous hand manipulating an object with known shape by rolling contacts are derived. A computed torque control algorithm is presented to ensure firm grip, avoid slippage and well track a given motion imposed to the object. The validation of models and different control laws were made by the co-simulation Matlab / virtual model

This master thesis analyses hook loader NKH 8A340. For calculation of load states was used the dynamic simulation in program MSC.ADAMS. This results were used like a input data to solve the construction with finished element method. After evaluation of results were made design changes of hook loader. Part of this thesis contains drawings of modified parts of hook loader.

This master’s thesis deals with a strength analysis of the main frame and loading arms of a skip loader. For a calculation of load states is used a dynamic simulation and its results are used as a boundary conditions for the strength analysis using finite element method (FEM). The results of the analysis is evaluated and on theirs basis are designed a construction improvements. The part of the thesis is drawings documentation of the construction improvements.

NANDRAD is a dynamic building energy simulation program. It calulates heating/cooling requirements and electric power consumption with respect to realistic climatic conditions and dynamic room usage. The model includes one-dimensional spatially resolved heat transport through multi-layered walls and thermal storage of solid components (room furniture/building walls). Consequently, massive constructions forms in the European area are very well represented. Further, NANDRAD calculates geometrical long radiation heat exchange inside the room. Heating systems may be modeled with a high level of geometrical detail, i.e. surface heating systems as part of the wall constructions and radiant heaters inside the room. NANDRAD can be applied for passive building simulation, energy optimization and thermal comfort analysis with respect to a very detailed building representation. In this terms, the model supports the simulation of a large number of zones and walls without need for subgrouping or other model reduction strategies.

This diploma thesis is dedicated to the development of mobile resonance-adhesion tester TriTec. The aim of this thesis is to improve the parameters of the tester in comparison to the previous version of tester, especially to minimize the vibrations of the tester while running without load, and to the make long-distance transportation of tester easier. The first part of thesis was aimed on history of development of TriTec tester, causes of it´s problems and on analysis of vibration minimization possibilities. As a best solution is considered a rotational balance mechanism, which was designed in next part of thesis. After that a new front wheel drive and an user interface conception were designed. The modified tester reaches all the deserved parameters and is able to compete static resonance-adhesion testers by it´s lower price and high mobility.

The aim of this thesis is an analysis of the construction of a cable trailer VARIANT 200. For the calculation of load states was used a multi body system in program MSC.ADAMS. The results from these calculations were used as lifting conditions for strength control with finite element method (FEM). All acquired results were analysed and according to them changes were made to the frame construction. Part of this thesis contains drawings documenting the above mentioned changes.

This diploma thesis deals with the concept design of the transport vehicle for a domestic animal. The aim of this work is to do the search of suspension types of trailers, to design frame and to drive a dynamic simulation of this trailer. Then check the frame with finite element method (FEM) and create construction drawings.

Among the well-known methods to form or modify the composition and physical properties of thin films, ion implantation has shown to be a very powerful technique. In particular, ion beam syntheses of binary iron silicide have been studied by several groups. Further, the interests in transition metal silicide systems are triggered by their potential use in advanced silicon based opto-electronic devices. In addition, ternary silicides have been by far less studied than their binary counterparts despite the fact that they have interesting magnetic and electronic properties. In this study, we investigate ion beam synthesis of Fe-Si binary structures and Fe-Co-Si ternary structures. This work involves fundamental investigation into development of a scalable synthesis process involving binary and ternary transitional metal silicide thin films and Nano-structures using low energy ion beams. Binary structures were synthesized by implanting Fe- at 50 keV energy. Since ion implantation is a dynamic process, Dynamic simulation techniques were used in these studies to determine saturation fluences for ion implantation. Also, static and dynamic simulation results were compared with experimental results. The outcome of simulations and experimental results indicate, dynamic simulation codes are more suitable than static version of the TRIM to simulate high fluence, low energy and, heavy ion implantation processes. Furthermore, binary Fe-Si phase distribution was determined at different implantation fluences and annealing temperatures. A higher fluence implantation at 2.16×1017 atoms/cm2 and annealing at 500 oC showed three different Fe-Si phase formations (β-FeSi2, FeSi and Fe3Si) in substrate. Further, annealing the samples at 800 oC for 60 minutes converted the Fe3Si phase into FeSi2 and FeSi phases. As an extension, a second set of Fe- ion implantations was carried with the same parameters while the substrate was placed under an external magnetic field. External magnetic fields stimulate the formation of magnetic phase centers in the substrate. X-ray diffraction (XRD) results shows formation of ferromagnetic Fe3Si phase in the Si matrix after annealing at 500 oC for 60 minutes. In addition, X-ray photoelectron spectra (XPS) provide further evidence for ferromagnetic metallic behavior of Fe3Si in the substrate. Ternary Fe-Co-Si structures were synthesized by implanting Fe- & Co- into a Si (100) substrate at an energy of 50 keV at saturation fluences. Both Fe- & Co- co-implantation were performed under external magnetic fields to enhance magnetic phase formation. Fe(1-x)CoxSi B20-type cubic structure can be synthesized on Si(100) substrate with 0.4≤x≤0.55 concentration range using ion implantation under external magnetic field. Moreover, magnetic measurement indicates a possible magnetic phase transformation at ~50 K. Further, XPS results also provide evidence for metallic & ferromagnetic properties in the thin film structure

I många år har linjär ekonomi tillämpats i samhället men det börjar ske en förändring. Nu börjar det bli intressant att skapa ett ekonomiskt värde i restprodukter genom att bilda cirkulära ekonomier, som dessutom minskar utarmningen av jordens resurser och skapar hållbarhet. En kritisk ändlig naturresurs för alla levande organismer är mackronäringsämnet fosfor. Den bryts i stora dagbrott men börjar bli mer svåråtkomlig och utspädd vilket kan leda till att det blir en resursbrist i framtiden. De skogsindustriella reningsverken behöver näringsämnen för att kunna rena avloppsvatten från organiskt material. Där tillsätts bland annat kväve och fosfor vars utvinning är energikrävande och bidrar till miljöföroreningar. Inne i reningsverket sker många biologiska processer som är beroende av flera faktorer för att uppnå en hög reningsgrad. En faktor är temperatur. Pappers och massabruken har ofta varma flöden som behöver kylas ner innan de går till reningsverket, därav fås ett stort överskott av lågvärdig energi som ej används (spillvärme). Under de senaste åren har både ett politiskt och privat driv uppstått att utöka det svenska vattenbruket med akvatiska produkter, exempelvis fisk. Fiskar kan odlas i öppna kassar i sjöar/hav men det finns risker så som övergödning och spridning av sjukdomar. Därav är intresset stort för landbaserade fiskodlingar med Recirculating Aquaculture Systems. En landbaserad fiskodling har dock ett stort värmebehov för att bibehålla rätt vattentemperatur för fisken. Avloppsvattnet har även ett högt innehåll av kväve och fosfor som behöver renas innan det släpps ut. Med hjälp av programmet Simulink byggdes en simuleringsmodell över ett skogsindustriellt reningsverk i symbios med en fiskodling. Syftet var att undersöka möjligheter och begränsningar för symbiosen med ett extra fokus på reningsverket. Målen var att ta reda på hur mycket mindre kväve och fosfor som behövs i reningsverket, utföra en miljöanalys av symbiosen, identifiera begränsande faktorer och hitta lösningar samt ta reda på om spillvärmen räcker för att värma fiskodlingen De erhållna resultaten var att reningsverket kan spara 82 ton fosforsyra och upp till 817 ton ammoniak per år. Reningsverket klarar belastningen från en fiskodling med en årlig produktion på 2200 ton fisk utan överskrida sin dåvarande utsläpp år 2021, vilket motsvarar 2,9 kg odlad fisk per ton producerad massa. Det kan reducera reningsverkets och fiskodlingen koldioxidutsläpp med 471,1 ton respektive 485,7 ton per år. Under året infaller ett processtop i pappers och massaindustrin. Det leder till strypt värmetillförsel för fiskodlingen som resulterar i för kall fiskvattentemperatur samt för höga utsläpp närsalter vid uppstart av reningsverket. En lösning är att lägga på fem centimeters isolering på fiskpoolerna. För att minimera närsaltsutsläppen kan fasta närsalter ur fiskavloppsvattnet filtreras bort och en kolkälla tillsättas. För att maximera användningen av spillvärme kan en icke isolerad 3000 ton fiskodling byggas. Värmningsbehovet per år blir då runt 16000 MWh vilket motsvarar cirka 4,7 % av spillvärmen. / For many years, linear economics has been applied in society, but it is changing. Instead, it is now interesting to create an economic value in residual products by forming circular economies, which also reduces the depletion of the earth's resources and promote sustainability. A critical finite natural resources for all living organisms is the macronutrient phosphorus. It is mined in large open pits but is becoming diluted and difficult to access, which may lead to a lack of resource in the future. The forest industry wastewater treatment plants need nutrients to be able to treat wastewater from organic material. Among other things, nitrogen and phosphorus are added, the extraction of which is energy-intensive and contributes to environmental pollution. Inside the treatment plant, many biological processes take place that depend on several factors to achieve a high degree of treatment. One factor is temperature. Paper and pulp mills often have warm streams of water that needs to be cooled down before being sent to the treatment plant, which results in a large surplus of waste heat that is not used. In recent years, both a political and private drive has arisen to expand Swedish aquaculture with aquatic products such as fish. Fish can be grown in open net pens in lakes / seas, but there are risks such as eutrophication and the spread of diseases. As a result, there is great interest in land-based fish farms with Recirculating Aquaculture Systems. However, a land-based fish farm has a great need for heat to maintain the right water temperature for the fish. The wastewater also has a high content of nitrogen and phosphorus that needs to be treated before it is discharged. With the help of the program Simulink, a simulation model was built describing a forest industry treatment plant in symbiosis with a fish farm. The purpose was to investigate possibilities and limitations for the symbiosis with an extra focus on the treatment plant. The goals were to investigate how much less nitrogen and phosphorus is needed in the treatment plant, perform an environmental analysis of the symbiosis, identify limiting factors, find solutions and find out if there is enough waste heat to heat the fish farm The results obtained were that the treatment plant can save 82 tonnes of phosphoric acid and up to 817 tonnes of ammonia per year. The treatment plant manages the load from a fish farm with an annual production of 2200 tonnes of fish without exceeding its equivalent discharge pollution levels of 2021, which is equal to 2,9 kg farmed fish per tonne produced pulp. It can reduce the treatment plant's and fish farm's carbon dioxide emissions by 471.1 tonnes and 485.7 tonnes per year, respectively During the year, a process stop occurs in the paper and pulp industry. This leads to a restricted heat supply for the fish farm, which results in a too cold water temperature for the fish and too high discharges of nutrients in to receiving lake at the start-up of the treatment plant. One solution to this issue is to put five centimetres of insulation on the fish pools. To minimize nutrient discharges, the solid nutrients from the fish wastewater can be filtered out and a carbon source added. To maximize the use of waste heat, a non-insulated 3000 ton fish farm can be built. The heating demand per year will then be around 16,000 MWh, which corresponds to approximately 4.7% of the waste heat.