The diploma thesis deals with vehicle movement dynamics and defining a theoretical model for software simulation of vehicle passing a given trajectory, while main aim is time minimization driving mode. Simulation (algorithm for computing speed profile) is then applicated for passing experimental vehicle along Masaryk circuit in Brno. At the end, we optimize chosen vehicle parameters with derivate-free algorithms Multilevel Coordinate Search and Particle Swarm.

Electric vehicles with autonomous driving are the future of transportation, as they are sustainable, efficient, environmentally friendly, and can provide collision-free congestion-free driving. However, the sensing and control technology adds new accessory loads which increase the vehicle energy use. Thus, it is critical to minimize energy use where possible, and optimal speed planning is a promising way to achieve this goal and is thus the topic of study for this thesis. First, a low-computation framework for the onboard calculation of energy-optimal cruising speed of battery electric vehicles is proposed. The framework is used to investigate the critical parameters for energy-optimal cruising speed determination, and it includes major internal and external vehicle losses, uses accurate motor-inverter efficiency maps as look-up tables, and does not require knowledge of the future route. This framework is validated using three electric vehicle models in MATLAB/SIMULINK. Secondly, a novel two-level model predictive control (MPC) speed control algorithm for battery electric autonomous vehicles as a successive convex optimization problem is proposed. The proposed successive convex approach produces a highly accurate optimal speed profile while also being solvable in real-time with the vehicle's onboard computing resources. This algorithm is used to perform a variety of simulated test cases, which show an energy savings potential of about 1% to 20% for different driving conditions, compared to a non-energy-optimal driving profile. Lastly, the research is expanded to consider fuel cell hybrid electric vehicles (FCHEVs), which have the added need for an optimal energy management strategy inv addition to optimal speed planning. Novel successive and integrated convex speed planning and energy management algorithms are proposed to solve the minimum hydrogen consumption problem for autonomous FCHEVs. The simulation results show that the proposed integrated method, which considers fuel cell system efficiency in the optimization objective function for speed planning, leads to 0.19% to 2.37% less hydrogen consumption compared to the successive method on short drive cycles with varying accessory loads. On the same test cycles, the integrated method uses 10.12% to 21.62% less hydrogen than an arbitrary constant-speed profile. / Thesis / Doctor of Philosophy (PhD) / Autonomous vehicles are expected to be the future of transportation, however, the high continuous electrical accessory power needed for control and perception is a challenge. Fortunately, there is an inherent property of speed planning for autonomous vehicles that can help deal with this problem. This thesis focuses on optimal speed planning to minimize energy use, proposing convex methods considering detailed internal and external losses for battery electric vehicles (BEVs), and optimal speed planning integrated with optimal energy management for fuel cell hybrid electric vehicles (FCHEVs). The proposed framework in this thesis is accurate while maintaining a low computational effort, which are the desired criteria for real-time algorithms.

The accurate modelling of the wind speed profile at altitudes relevant to wind energy (i.e. up to 200m) is important for preliminary wind resource assessments, forecasting of the wind resource, and estimating shear loads on turbine blades. Modelling of the wind profile at these altitudes is particularly challenging in stable stratification due to weak turbulence and the influence of a broad range of additional processes. Models used to simulate the wind profile range from equilibrium-based 1D analytic extrapolation models to time-evolving 3D atmospheric models. Extrapolation models are advantageous due to their low computational requirements but provide a very limited account of atmospheric physics. Conversely, 3D models are more physically comprehensive but have considerably higher computational cost and data requirements. The middle ground between these two approaches has been largely unexplored. The intent of this research is to compare the ability of a range of models of varying complexity to model the wind speed profile up to 200m under stable stratification. I focus in particular on models that are more physically robust than conventional extrapolation models but less computationally expensive than a 3D model. Observational data taken from the 213-m Cabauw meteorological tower in the Netherlands provide a basis for much of this analysis. I begin with a detailed demonstration of the limitations and breakdown in stable stratification of Monin-Obukhov similarity theory (MOST), the theoretical basis for the logarithmic wind speed profile model. I show that MOST (and its various modifications) are reasonably accurate up to 200m for stratification no stronger than weakly stable. At higher stratifications, the underlying assumptions of MOST break down and large errors in the modelled wind profiles are found. I then consider the performance of a two-layer MOST-Ekman layer model, which provides a more physically-comprehensive description of turbulence compared to MOST-based models and accounts for the Coriolis force and large-scale wind forcing (i.e. geostrophic wind). I demonstrate considerable improvements in wind profile accuracy up to 200m compared to MOST-based approaches. Next, I contrast the performance of a two-layer model with a more physically-comprehensive equilibrium-based single-column model (SCM) approach. I demonstrate several limitations of the equilibrium SCM approach - including frequent model breakdown - that limit its usefulness. I also demonstrate no clear association between the accuracy of the wind profile and the order of turbulence closure used in the SCM. Furthermore, baroclinic influences due to the land-sea temperature gradient are shown to have only modest influence on the SCM wind speed profile in stable conditions. Overall, the equilibrium SCM (when it does not break down) is found to generally outperform the two-layer model. Finally, I contrast the performance of the equilibrium SCM with a time-evolving SCM and a time-evolving 3D mesoscale model using a composite set of low-level jet (LLJ) case studies as well as a 10-year dataset at Cabauw. For the LLJ case studies, the time-evolving SCM and 3D model are found to accurately simulate the evolving stratification, the inertial oscillation, and the LLJ. The equilibrium SCM is shown to have comparatively less skill. Over the full 10-year data set, the sensitivity of the time-evolving SCM to horizontally-driven temperature changes in the ABL is found to be a considerable limitation. Despite its various limitations and simplified physics, the time-evolving SCM is generally found to be equally as accurate as the mesoscale model while using a fraction of the computational cost and requiring only a minimal amount of easily attainable local observations. Overall, the time-evolving SCM model is found to perform the best (considering both accuracy and robustness) compared to a range of equilibrium approaches as well as a time-evolving 3D model, while offering the best balance of observational data requirements, physical applicability, and computational requirements. This thesis presents a compelling case for the use of SCMs in the field of wind energy meteorology. / Graduate

Hazardous winds, such as tornadoes and hurricanes, have a great impact on civil engineering structures and cause significant social and economic disturbances. The wind speed and pressure tested in the conventional wind tunnel experiments are much smaller than the actual wind speed and pressure measured in the field. Therefore, the Wind-induced Damage Simulator (WDS) was constructed at the University of Ottawa to overcome the wind speed limitations of wind tunnels and to simulate different types of wind speed profiles. WDS is an isolated cubic box with dimensions 3.65m x3.65 m and 3.0 m height, with multiple inlets on the side faces of the testing chamber and an outlet on the top side. This unique equipment creates a controlled environment for studying wind speed profiles in a confined space, by regulating the air flow with the aid of an attached industrial blower. To measure the simulated wind velocities inside the WDS and to obtain the wind speed profile in the testing chamber, Aeroprobe (12- Hole Probe) sensor was used for different combinations of opened inlets and at four different locations. The data collected from the Aeroprobe was processed by the use of the Aeroflow 2.7.5.7346 software, to get the velocity of wind in three different directions (u, v and w) and the mean velocity at a single point. After determining the mean velocity at different heights and RPM values at all four positions, Matlab software was used to determine the wind profile and the spectra of the turbulence intensities and these were compared for different heights at the four investigated locations and for various rotations per minute (RPM) values (400 to 800 RPM) for controlling the blower. Once the flow characterization was completed, the wind-induced pressure for three models of the Silsoe Cube were measured as a part of the second phase of the test. The current experiment employed 3 different scales of Silsoe cube: 1:40, 1:30 and 1:20, while the pressure coefficients were determined at 16 different points along a vertical line crossing the faces of the cube. A pressure taps system with 16 channels and a Scanivale pressure scanner were used to measure the pressure at 16 different positions on the cube. Matlab software was used to determine the pressure coefficients from the data measured by pressure taps. The pressure coefficienst for the Silsoe Cube were plotted and compared for the three different scales. Also, for determining the best scale to be used in future experiments. The pressure coefficients of the 3 different scaled model of Silsoe Cubes was compared with full-scale data reported in the literature for the same structure. Based on the results obtained from the experiments, recommendations for the best location in the testing chamber for the future experiments employing the WDS were formulated.

A formação do perfil de velocidades do vento é influenciada pela rugosidade e topografia do terreno; em um terreno plano, por exemplo, as velocidades são diminuídas conforme a sua proximidade com a superfície terrestre, determinando a constituição da camada limite atmosférica (C.L.A.). O escoamento do vento em terrenos complexos, ou seja, terrenos que possuem morros e taludes, sejam isolados ou múltiplos, possui o perfil de velocidades modificado, fazendo com que para cotas mais próximas da superfície se observe um aumento das velocidades. A este incremento de velocidades dá-se o nome de speed-up. Esta pesquisa tem como foco a investigação da estrutura do escoamento do vento, analisando minuciosamente o perfil de velocidades em um escoamento turbulento, para topografias isoladas e complexas. Para tanto, foram utilizados dois métodos para obtenção do perfil de velocidades: ensaios experimentais em túnel de vento e aplicação de normas e modelos analítcos de carregamento do vento. O plano experimental engloba nove topografias dentre as quais estão: quatro morros bidimensionais (2D) isolados, quatro morros tridimensionais (3D) isolados e um morro 3D de uma topografia complexa. Os modelos foram ensaiados para duas categorias de terreno, conforme a Norma Brasileira NBR 6123 (ABNT, 1988): I – superfícies lisas de grandes dimensões e III-IV – terreno coberto por obstáculos, no túnel de vento Prof° Joaquim Blessmann. Após a execução do plano experimental aplicou-se modelos analíticos com as mesmas parametrizações do modelo experimental e por fim foram comparados entre si. Os modelos analíticos estudados foram: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988) e as normas estudadas são: NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010). O estudo comparativo entre os modelos analíticos e normas revela a inexistência de uma homogeneidade entre os modelos, visto que a formulação de cálculo é distinta, quando temos uma topografia em análise. Além disso, os modelos analíticos, quando comparados com os ensaios experimentais, tendem a ser mais conservadores tanto para modelos 2D ou 3D, para pontos à barlavento, no cume e à sotavento do morro. A NBR 6123 apresentou os maiores incrementos de velocidades em comparação com os demais modelos e com os dados experimentais. / The formation of the wind speed profile is influenced by the roughness and topography of the ground; on a flat ground, for example, the speeds are reduced according to their proximity to the earth’s surface, determining the constitution of the atmospheric boundary layer (C.L.A.). The wind flow in complex terrain, in other words, whether single or multiples, has the modified wind speed profile, causing closest to the surface dimensions is observed increased speeds. To this increase speeds gives the name of speed-up. This research focuses on the investigation of the wind flow structure, thoroughly analyzing the speeds profile in turbulent flow, for isolated and complex topographies. For this purpose, two methods for obtaining the speed profile were used: experimental tests in a wind tunnel and application standards or wind loading codes. The experimental plan includes nine topographies among which are: four 2D hills (2D) isolates, four 3D hills (3D) isolates and a complex topography hill. The models were tested for two roughness according to the Brazilian standard NBR 6123 (ABNT, 1988): I – smooth surfaces large dimensions and III-IV – ground covered by obstacles, in the wind tunnel Prof° Joaquim Blessmann. After the execution of the experimental tests were applied analytical models with the same parametrization of the experimental model and finally were compared. The analytical models studied were: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988), NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010. The compararative study between the analytical models and standards reveals the lack of homogeneity between the models, since the calculation formulation is different when we have a topography analysis. Furthermore, analytical models, compared with the experimental tests tend to be more conservative for both 2D and 3D models, points to the windward, top of the hill and leeward. The NBR 6123 showed the largest increases in speed compared to the other models and experimental data.

A formação do perfil de velocidades do vento é influenciada pela rugosidade e topografia do terreno; em um terreno plano, por exemplo, as velocidades são diminuídas conforme a sua proximidade com a superfície terrestre, determinando a constituição da camada limite atmosférica (C.L.A.). O escoamento do vento em terrenos complexos, ou seja, terrenos que possuem morros e taludes, sejam isolados ou múltiplos, possui o perfil de velocidades modificado, fazendo com que para cotas mais próximas da superfície se observe um aumento das velocidades. A este incremento de velocidades dá-se o nome de speed-up. Esta pesquisa tem como foco a investigação da estrutura do escoamento do vento, analisando minuciosamente o perfil de velocidades em um escoamento turbulento, para topografias isoladas e complexas. Para tanto, foram utilizados dois métodos para obtenção do perfil de velocidades: ensaios experimentais em túnel de vento e aplicação de normas e modelos analítcos de carregamento do vento. O plano experimental engloba nove topografias dentre as quais estão: quatro morros bidimensionais (2D) isolados, quatro morros tridimensionais (3D) isolados e um morro 3D de uma topografia complexa. Os modelos foram ensaiados para duas categorias de terreno, conforme a Norma Brasileira NBR 6123 (ABNT, 1988): I – superfícies lisas de grandes dimensões e III-IV – terreno coberto por obstáculos, no túnel de vento Prof° Joaquim Blessmann. Após a execução do plano experimental aplicou-se modelos analíticos com as mesmas parametrizações do modelo experimental e por fim foram comparados entre si. Os modelos analíticos estudados foram: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988) e as normas estudadas são: NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010). O estudo comparativo entre os modelos analíticos e normas revela a inexistência de uma homogeneidade entre os modelos, visto que a formulação de cálculo é distinta, quando temos uma topografia em análise. Além disso, os modelos analíticos, quando comparados com os ensaios experimentais, tendem a ser mais conservadores tanto para modelos 2D ou 3D, para pontos à barlavento, no cume e à sotavento do morro. A NBR 6123 apresentou os maiores incrementos de velocidades em comparação com os demais modelos e com os dados experimentais. / The formation of the wind speed profile is influenced by the roughness and topography of the ground; on a flat ground, for example, the speeds are reduced according to their proximity to the earth’s surface, determining the constitution of the atmospheric boundary layer (C.L.A.). The wind flow in complex terrain, in other words, whether single or multiples, has the modified wind speed profile, causing closest to the surface dimensions is observed increased speeds. To this increase speeds gives the name of speed-up. This research focuses on the investigation of the wind flow structure, thoroughly analyzing the speeds profile in turbulent flow, for isolated and complex topographies. For this purpose, two methods for obtaining the speed profile were used: experimental tests in a wind tunnel and application standards or wind loading codes. The experimental plan includes nine topographies among which are: four 2D hills (2D) isolates, four 3D hills (3D) isolates and a complex topography hill. The models were tested for two roughness according to the Brazilian standard NBR 6123 (ABNT, 1988): I – smooth surfaces large dimensions and III-IV – ground covered by obstacles, in the wind tunnel Prof° Joaquim Blessmann. After the execution of the experimental tests were applied analytical models with the same parametrization of the experimental model and finally were compared. The analytical models studied were: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988), NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010. The compararative study between the analytical models and standards reveals the lack of homogeneity between the models, since the calculation formulation is different when we have a topography analysis. Furthermore, analytical models, compared with the experimental tests tend to be more conservative for both 2D and 3D models, points to the windward, top of the hill and leeward. The NBR 6123 showed the largest increases in speed compared to the other models and experimental data.

A formação do perfil de velocidades do vento é influenciada pela rugosidade e topografia do terreno; em um terreno plano, por exemplo, as velocidades são diminuídas conforme a sua proximidade com a superfície terrestre, determinando a constituição da camada limite atmosférica (C.L.A.). O escoamento do vento em terrenos complexos, ou seja, terrenos que possuem morros e taludes, sejam isolados ou múltiplos, possui o perfil de velocidades modificado, fazendo com que para cotas mais próximas da superfície se observe um aumento das velocidades. A este incremento de velocidades dá-se o nome de speed-up. Esta pesquisa tem como foco a investigação da estrutura do escoamento do vento, analisando minuciosamente o perfil de velocidades em um escoamento turbulento, para topografias isoladas e complexas. Para tanto, foram utilizados dois métodos para obtenção do perfil de velocidades: ensaios experimentais em túnel de vento e aplicação de normas e modelos analítcos de carregamento do vento. O plano experimental engloba nove topografias dentre as quais estão: quatro morros bidimensionais (2D) isolados, quatro morros tridimensionais (3D) isolados e um morro 3D de uma topografia complexa. Os modelos foram ensaiados para duas categorias de terreno, conforme a Norma Brasileira NBR 6123 (ABNT, 1988): I – superfícies lisas de grandes dimensões e III-IV – terreno coberto por obstáculos, no túnel de vento Prof° Joaquim Blessmann. Após a execução do plano experimental aplicou-se modelos analíticos com as mesmas parametrizações do modelo experimental e por fim foram comparados entre si. Os modelos analíticos estudados foram: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988) e as normas estudadas são: NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010). O estudo comparativo entre os modelos analíticos e normas revela a inexistência de uma homogeneidade entre os modelos, visto que a formulação de cálculo é distinta, quando temos uma topografia em análise. Além disso, os modelos analíticos, quando comparados com os ensaios experimentais, tendem a ser mais conservadores tanto para modelos 2D ou 3D, para pontos à barlavento, no cume e à sotavento do morro. A NBR 6123 apresentou os maiores incrementos de velocidades em comparação com os demais modelos e com os dados experimentais. / The formation of the wind speed profile is influenced by the roughness and topography of the ground; on a flat ground, for example, the speeds are reduced according to their proximity to the earth’s surface, determining the constitution of the atmospheric boundary layer (C.L.A.). The wind flow in complex terrain, in other words, whether single or multiples, has the modified wind speed profile, causing closest to the surface dimensions is observed increased speeds. To this increase speeds gives the name of speed-up. This research focuses on the investigation of the wind flow structure, thoroughly analyzing the speeds profile in turbulent flow, for isolated and complex topographies. For this purpose, two methods for obtaining the speed profile were used: experimental tests in a wind tunnel and application standards or wind loading codes. The experimental plan includes nine topographies among which are: four 2D hills (2D) isolates, four 3D hills (3D) isolates and a complex topography hill. The models were tested for two roughness according to the Brazilian standard NBR 6123 (ABNT, 1988): I – smooth surfaces large dimensions and III-IV – ground covered by obstacles, in the wind tunnel Prof° Joaquim Blessmann. After the execution of the experimental tests were applied analytical models with the same parametrization of the experimental model and finally were compared. The analytical models studied were: Jackson e Hunt (1975, Lemelin, Surry e Davenport (1988), NBR 6123 (ABNT, 1988), Eurocode 1 (CEN-TC, 2010), AIJ (AIJ, 2004), NBCC (NRCC, 2010), AS/NZS (AS/NZS, 2011), ASCE (ASCE, 2010. The compararative study between the analytical models and standards reveals the lack of homogeneity between the models, since the calculation formulation is different when we have a topography analysis. Furthermore, analytical models, compared with the experimental tests tend to be more conservative for both 2D and 3D models, points to the windward, top of the hill and leeward. The NBR 6123 showed the largest increases in speed compared to the other models and experimental data.

Surface-generalized ambient noise in a shallow ocean waveguide with a sediment layer possessing a specific class of density and sound speed distributions capable of describing a realistic seabed environment is considered in this analysis. This class of non-uniform sediment layer has the density and sound speed distributions varying with respect to depth as a genearlized-exponential and an inverse-square function, respectively. The study invokes a formulation developed by Kuperman and Ingenito for surface noise generation, in conjunction with the analytical solutions for the Helmholtz equation corresponding to the sediment layer, to arrive at an analytical expression convenient for numerical implementation. The intensity and spatial correlation of the noise sound field are analyzed with respect to the variations of the system parameters, including frequency, sediment layer thickness, sound speed gradient, with emphasis on the effects of sediment properties on the ambient noise field. The results have demonstrated that the intensity of the noise field is relatively sensitive to the variations of the paramters, while the spatial correlation is not, suggesting that the energy distribution, rather than the spatial structure, of the noise field is susceptible to the environmental variation.

The objective of this thesis is to develop and implement an algorithm for inverting the sound speed profile via estimation of the parameters embedded in a geoacoustic model. The environmental model inscribes a continuously-varying marine sediment layer with density and sound speed distributions represented by the generalized-exponential and inverse-square functions, respectively. Based upon a forward problem of plane-wave reflection from a non-uniform sediment layer overlying a uniform elastic basement, an inversion procedure for estimating the sound speed profile from the reflected sound field under the influence of noise is established and numerically implemented. The inversion invokes a probabilistic approach quantified by the posterior probability density for measuring the uncertainties of the estimated parameters from synthetic noisy data. Preliminary analysis on the solution of the forward problem and the sensitivity of the model parameters is first conducted, leading to a determination of the parameters chosen for inversion in the ensuing study. The parameter uncertainties referenced 1-D and 2-D marginal posterior probability densities are then examined, followed by the statistical estimation for the sound speed profile in terms of 99 % credibility interval. The effects of, the signal-to-noise ratio (SNR), the dimension of data vector, the region in which the data sampled, on the statistical estimation of sound speed profile are demonstrated and discussed.

This master thesis presents a method to find the optimal speed profile for a dynamic system in the shape of an electric vehicle and any topography using a search algorithm. The search algorithm is capable of considering all the speed choices in a topography presented discretely, in order to find the most energy efficient one. How well the calculations made by the search algorithm represents the reality, depends on the speed and topography resolution and the vehicle energy model. With the correct settings, up to 18.4% of energy can be saved for a given topography compared to having the lowest constant speed allowed. The speed is ranging between 85-95 km/h but the method presented is capable of having any set of speed options, even if the resolution varies from point to point on the road. How to use this method and its properties is explained in detail using text and step for step figures of how the search algorithm iterates.A comparison between allowing regenerative braking and not allowing it is shown in the results. It is clear that there is most energy saving potential where no regenerative braking is allowed. / <p>Mustafa Ali Arat has stopped working at NEVS and moved abroad.</p>