Automation and Control Architecture for Hybrid Pipeline Robots

The aim of this research project, towards the automation of the Hybrid Pipeline Robot (HPR), is the development of a control architecture and strategy, based on reconfiguration of the control strategy for speed-controlled pipeline operations and self-recovering action, while performing energy and time management. The HPR is a turbine powered pipeline device where the flow energy is converted to mechanical energy for traction of the crawler vehicle. Thus, the device is flow dependent, compromising the autonomy, and the range of tasks it can perform. The control strategy proposes pipeline operations supervised by a speed control, while optimizing the energy, solved as a multi-objective optimization problem. The states of robot cruising and self recovering, are controlled by solving a neuro-dynamic programming algorithm for energy and time optimization, The robust operation of the robot includes a self-recovering state either after completion of the mission, or as a result of failures leading to the loss of the robot inside the pipeline, and to guaranteeing the HPR autonomy and operations even under adverse pipeline conditions Two of the proposed models, system identification and tracking system, based on Artificial Neural Networks, have been simulated with trial data. Despite the satisfactory results, it is necessary to measure a full set of robot’s parameters for simulating the complete control strategy. To solve the problem, an instrumentation system, consisting on a set of probes and a signal conditioning board, was designed and developed, customized for the HPR’s mechanical and environmental constraints. As a result, the contribution of this research project to the Hybrid Pipeline Robot is to add the capabilities of energy management, for improving the vehicle autonomy, increasing the distances the device can travel inside the pipelines; the speed control for broadening the range of operations; and the self-recovery capability for improving the reliability of the device in pipeline operations, lowering the risk of potential loss of the robot inside the pipeline, causing the degradation of pipeline performance. All that means the pipeline robot can target new market sectors that before were prohibitive

Adaptive Sparse Array Beamformer Design by Regularized Complementary Antenna Switching

In this work, we propose a novel strategy of adaptive sparse array beamformer design, referred to as regularized complementary antenna switching (RCAS), to swiftly adapt both array configuration and excitation weights in accordance to the dynamic environment for enhancing interference suppression. In order to achieve an implementable design of array reconfiguration, the RCAS is conducted in the framework of regularized antenna switching, whereby the full array aperture is collectively divided into separate groups and only one antenna in each group is switched on to connect with the processing channel. A set of deterministic complementary sparse arrays with good quiescent beampatterns is first designed by RCAS and full array data is collected by switching among them while maintaining resilient interference suppression. Subsequently, adaptive sparse array tailored for the specific environment is calculated and reconfigured based on the information extracted from the full array data. The RCAS is devised as an exclusive cardinality-constrained optimization, which is reformulated by introducing an auxiliary variable combined with a piece-wise linear function to approximate the $l_0$-norm function. A regularization formulation is proposed to solve the problem iteratively and eliminate the requirement of feasible initial search point. A rigorous theoretical analysis is conducted, which proves that the proposed algorithm is essentially an equivalent transformation of the original cardinality-constrained optimization. Simulation results validate the effectiveness of the proposed RCAS strategy

Application-Specific Number Representation

Reconfigurable devices, such as Field Programmable Gate Arrays (FPGAs), enable application- specific number representations. Well-known number formats include fixed-point, floating- point, logarithmic number system (LNS), and residue number system (RNS). Such different number representations lead to different arithmetic designs and error behaviours, thus produc- ing implementations with different performance, accuracy, and cost. To investigate the design options in number representations, the first part of this thesis presents a platform that enables automated exploration of the number representation design space. The second part of the thesis shows case studies that optimise the designs for area, latency or throughput from the perspective of number representations. Automated design space exploration in the first part addresses the following two major issues: ² Automation requires arithmetic unit generation. This thesis provides optimised arithmetic library generators for logarithmic and residue arithmetic units, which support a wide range of bit widths and achieve significant improvement over previous designs. ² Generation of arithmetic units requires specifying the bit widths for each variable. This thesis describes an automatic bit-width optimisation tool called R-Tool, which combines dynamic and static analysis methods, and supports different number systems (fixed-point, floating-point, and LNS numbers). Putting it all together, the second part explores the effects of application-specific number representation on practical benchmarks, such as radiative Monte Carlo simulation, and seismic imaging computations. Experimental results show that customising the number representations brings benefits to hardware implementations: by selecting a more appropriate number format, we can reduce the area cost by up to 73.5% and improve the throughput by 14.2% to 34.1%; by performing the bit-width optimisation, we can further reduce the area cost by 9.7% to 17.3%. On the performance side, hardware implementations with customised number formats achieve 5 to potentially over 40 times speedup over software implementations

Development of Multiport Single Stage Bidirectional Converter for Photovoltaic and Energy Storage Integration

The energy market is on the verge of a paradigm shift as the emergence of renewable energy sources over traditional fossil fuel based energy supply has started to become cost competitive and viable. Unfortunately, most of the attractive renewable sources come with inherent challenges such as: intermittency and unreliability. This is problematic for today\u27s stable, day ahead market based power system. Fortunately, it is well established that energy storage devices can compensate for renewable sources shortcomings. This makes the integration of energy storage with the renewable energy sources, one of the biggest challenges of modern distributed generation solution. This work discusses, the current state of the art of power conversion systems that integrate photovoltaic and battery energy storage systems. It is established that the control of bidirectional power flow to the energy storage device can be improved by optimizing its modulation and control. Traditional multistage conversion systems offers the required power delivery options, but suffers from a rigid power management system, reduced efficiency and increased cost. To solve this problem, a novel three port converter was developed which allows bidirectional power flow between the battery and the load, and unidirectional power flow from the photovoltaic port. The individual two-port portions of the three port converter were optimized in terms of modulation scheme. This leads to optimization of the proposed converter, for all possible power flow modes. In the second stage of the project, the three port converter was improved both in terms of cost and efficiency by proposing an improved topology. The improved three port converter has reduced functionality but is a perfect fit for the targeted microinverter application. The overall control system was designed to achieve improved reference tracking for power management and output AC voltage control. The bidirectional converter and both the proposed three port converters were analyzed theoretically. Finally, experimental prototypes were built to verify their performance