Abstract: Using low-cost gas sensors for air quality monitoring promises cost e ective and convenient measurement systems. Nevertheless, the results obtained have a questionable quality due to di erent factors that can a ect sensor performance. The most discussed ones are relative humidity and air temperature. This investigation aimed to assess the behavior of B4-series low-cost gas sensors from Alphasense for measuring CO, NO, NO2, and O3 for di erent levels of relative humidity and temperature. These low-cost gas sensors were tested for six relative humidity levels from 10% to 85% with increasing steps of 15% and four temperature levels of 10 C, 25 C, 35 C, and 45 C against reference instruments in the laboratory. The e ect of these parameters on low-cost gas sensors was quantified in laboratory from which a correction algorithm was calculated, which was then applied to the field data. The applied algorithm improved the data quality of the low-cost gas sensors in most of the cases. Additionally, a low-cost dryer was assessed to reduce the influence of these factors on the low-cost gas sensors, which also proved to be suitable to enhance the data quality.

Abstract: Fluid storage capacity measurements of core plugs in the laboratory consider pore volume as a function of effective stress. The latter is equal to applied confining pressure – n × applied pore pressure. However, the results are often reported as a function of difference in the applied pressures, because the effective stress coefficient (n) is an unknown. This creates confusion during the interpretation of laboratory data and leads to added uncertainties in the analysis of the storage capacity of the samples under in-situ conditions. In this paper, we present a new laboratory method that allows simultaneous prediction of the sample pore volume, the coefficient of isothermal pore compressibility, and the effective stress coefficient. These quantities are necessary to predict the fluid storage as a function of effective stress. The method requires two stages of gas (helium) uptake by the sample under confining pressure and pore pressure and measures pressure-volumedata. Confining pressure is always kept larger than the equilibrium pore pressure, but their values at each stage are changed arbitrarily. The analysis is simple and includes simultaneous solutions of two algebraic equations including the measured pressurevolumedata. The model is validated by taking the reference pore volume near zero stress. The reference volume predicted matches with that measured independently using the standard helium porosimeter. For sandstone, shale, and carbonate samples, the estimated pore compressibility is, on average, 10−6 psi−1. The effective stress coefficient is higher than unity and is a linear function of the ratio of the applied pressure values. We present a new graphical method that predicts the Biot coefficient (α) of the rock sample, a fundamental quantity used during the strain calculations that indicates the tendency of the rock to deform volumetrically. A new fundamental rule is found between the applied pressure difference and the effective stress: σe/α = pc − pp. Interestingly, the predicted Biot coefficient values for the shale samples show values between 0.46 and 1.0. This indicates that features of the shale sample, such as mineral variability, fine-scale lamination, and fissility, come into play during the fluid storage measurements. Resumen: Las mediciones de capacidad de almacenamiento de fluidos en tapones de núcleo en el laboratorio consideran el volumen poroso como una función del esfuerzo efectiva. Esta última, es igual a la presión de confinamiento aplicada - n × presión de poro aplicada. Sin embargo, los resultados a menudo se reportan como función de la diferencia en las presiones aplicadas, porque el coeficiente de esfuerzo efectivo (n) es desconocido. Esto crea confusión durante la interpretación de los datos de laboratorio y genera incertidumbres adicionales en el análisis de la capacidad de almacenamiento de las muestras en condiciones in situ. Resumen: En este artículo, presentamos un nuevo método de laboratorio que permite la estimación simultánea del volumen poroso de la muestra, el coeficiente de compresibilidad de poro isotérmico y el coeficiente de esfuerzo efectivo. Estas cantidades son necesarias para predecir el almacenamiento de fluido en función del esfuerzo efectivo. El método requiere dos etapas de absorción de gas (helio) por la muestra bajo presión de confinamiento y presión de poro y mide los datos de presión-volumen. La presión de confinamiento siempre se mantiene mayor que la presión de poro de equilibrio, pero sus valores en cada etapa pueden cambiar arbitrariamente. El análisis es simple e incluye soluciones simultáneas de dos ecuaciones algebraicas, incluidos los datos de presión-volumen medidos. El modelo se valida tomando el volumen de poro de referencia cerca de la tensión cero. El volumen de referencia estimado coincide con el medido de forma independiente utilizando un porosímetro de helio estándar. Para las muestras de arenisca, lutita y carbonato, la compresibilidad de poro estimada es, en promedio, 10−6 psi − 1. El coeficiente de esfuerzo efectivo es mayor a la unidad y es una función lineal de la relación de los valores de presión aplicados. Presentamos un nuevo método gráfico que predice el coeficiente de Biot (α) de la muestra de roca, una cantidad fundamental utilizada durante los cálculos de deformación que indica la tendencia de la roca a deformarse volumétricamente. Se encuentra una nueva relación fundamental entre la diferencia de presión aplicada y el esfuerzo efectivo: σe / α = pc - pp. Curiosamente, los valores del coeficiente de Biot estimado para las muestras de lutitas muestran valores entre 0,46 y 1,0. Esto indica que las características de la muestra de lutita, como la variabilidad mineral, la laminación a escala fina y la fisibilidad, entran en juego durante las mediciones de almacenamiento de fluidos.

An accurate understanding of the environment is key for a robot in order to execute tasks safe and efficiently. In the field of perception, after the introduction of deep learning, computer vision tasks have made big leaps, surpassing even the human inference capability. As a trade-off, big amounts of annotated data were required to train such algorithms. On its own, the collection of annotated dataset is a highly time consuming activity prone to human errors, setting a limit to the maximum achievable performance. In this sense, annotations (quality) and samples (quantity) bound the optimization of perception algorithms. One extra challenge encountered when training object detectors for robotics applications is that the sensor setup can be multi-modal, and vary significantly between robots. This work explores how to generate and use synthetic RGB-D training data from a near photo-realistic game engine to train modality-specific person detectors, and perform ablation studies on a challenging, real-world dataset recorded using a reference RGB-D sensor in different intralogistics environments. A virtual RGB-D camera was implemented, leveraging the underlying deferred rendering architecture. Multiple environments were tailored, exploring various data augmentation techniques and enabling the comparison between different types of synthetic data. Detection layers of a pre-trained object detector network have been trained from scratch for the RGB and depth modality, with the latter being transformed by applying a Jet-colormap. Compared to a pre-trained network, a domain gap of 5 mPA points was still present for RGB images. Meanwhile with synthetic (15k) and real (1.5k) depth images, it was already possible to train robust human detectors. Comparing simulation features against data preparation, filtering annotations had a major impact on performance than adopting an explicit time-of-flight sensor model.

We explore how we can use synthetically generated RGB-D training data from a near photo-realistic game engine to train modality-specific person detectors. We perform ablation studies on a challenging, real-world dataset which we recorded using a Kinect v2 RGB-D sensor in multiple warehouse environments. Through extensive use of domain randomization techniques, we synthesize a realistic and highly varied training set of challenging intralogistics scenarios as observed from a mobile robot, comprising persons in confined and cluttered indoor spaces. We then train the detector layers of a YOLOv3 model from scratch on our synthetic RGB and jet-encoded depth images. While for the RGB case, we still observe a domain gap of 6 points in mAP compared to a pretrained COCO model, results indicate that by exploiting simulation, an immense manual labeling effort needed to prepare large-scale datasets such as MS COCO might be unnecessary for the depth modality. We further find that filtering of highly occluded groundtruth boundin boxes during training, as well as modeling of time-of-flight sensor noise characteristics has a positive impact on model performance. We also provide an initial set of qualitative results on our real-world dataset.

Abstract: Essential Tremor (ET) is the most frequent movement disorder in adults. Upper-limb exoskeletons are a promising solution to alleviate ET symptoms. We propose a novel wrist exoskeleton for tremor damping. The TuMove exoskeleton is light-weight, portable, easy to use, and designed for ADLs and activities requiring hand dexterity. We validated the effectiveness of our exoskeleton by inducing forearm tremors using TENS on 5 healthy subjects. Our results show that wrist ranges are generally kept in most of the ROM needed in ADLs. The damping system reduced more than 30% of the tremor's angular velocity during drinking and pouring tasks. Furthermore, the completion time of the Archimedes spiral was decreased by 2.76 seconds (13.0%) and for the 9-Hole-Peg-Test by 2.77 seconds (11.8 %), indicating a performance improvement in dexterity tasks.

Abstract: The standard IEC 61400-1, v.4.0 proposes at appendix J a method to determine the probability of extreme winds, based on the simulation of artificial cyclones and the theory of gradient wind. This method considers marginal statistical distributions for 5 main descriptors of cyclones (pressure depth, radius of maximum wind speed, translation speed, angle to the point of reference and mini-mum distance), a “modified orthogonal decomposition” to generate artificial cyclones and its own formulas to determine surface wind, cumulative probabilities and annual maximum surface wind. This research pursued to implement and to validate the standard at North West Pacific. Due to the difficulty and highly empirical elements of IEC 61400-1, v.4.0, it was required to modify it and include in the model other inputs such as well known statistical distributions after testing them, Nataf trans-formation (ERANataf) to generate artificial cyclones and empirical cumulative distribution functions to determine the probability of annual maximum surface wind. For the verification and validation, the results of 9 locations distributed in South Korea, Japan, HongKong and Taiwan were compared with the database of the Joint Typhoon Warning Center and theRSMC-Tokyo. The implementation of this research underestimated surface wind in all the locations.Simultaneously, the greatest contribution of input variables to sensitivity was more frequent from super index B of Holland. It would be desirable to continue validating this standard (that is presumed to have a global application), to understand the challenges of its theory during the computation of surface wind from gradient wind and to overcome the issues of its implementation.

Resumen: Los puentes atirantados son una tipología muy eficiente que posee agradables atributos estéticos. En los últimos años ha emergido como el sistema dominante para puentes de grandes luces, hasta 1200 m gracias a la combinación de distintos avances tecnológicos que la han convertido en muy competitiva. Aparte de la estabilidad aerodinámica, para esta tipología es relevante el estudio de la estabilidad del equilibrio elástico global y local del tablero frente a las cargas de compresión que se generan por el esquema de atirantamiento. En este trabajo se presenta un estudio paramétrico en puentes atirantados que permite identificar y evaluar un rango de luces donde los fenómenos de inestabilidad global del tablero son significativos. Para lograr este análisis se plantean varios objetivos, inicialmente de estudio, luego de modelación e identificación de rangos y finalmente de análisis y conclusiones. Los temas estudiados para el estado del conocimiento son la evolución del proyecto de tableros de puentes atirantados metálicos y mixtos en función de la luz, así como la tipología de tableros en función de la luz del tablero frente a los fenómenos de inestabilidad global. Para la modelización del tablero se considera el modelo de viga sobre cimentación elástica o modelo de Winkler con módulo de reacción constante y variable, junto con esfuerzos axiles de variación constante y variable. Con los resultados obtenidos se identifican rangos de luces donde la inestabilidad es importante para el análisis, al cual se le evalúan sus efectos no lineales y su posible repercusión en el proyecto del tablero.

Abstract: In the present work, theoretical and experimental analysis of the thermal performance of flat plate pulsating heat pipes, made of copper, are presented. The pulsating heat pipes were manufactured using an innovative fabrication process for this application, the diffusion bonding. For this purpose, a special oven was used, available in Labtucal, that provides high temperature, high pressure and high vacuum conditions, which allows the fabrication of monolithic pieces with high reliability. Plates of equal external size were used, in which the internal channels were modified. Different geometries were applied, including the variation of the number of channels for the same overall dimensions (density increase), modifications of the surface finishing (roughness) and addition of lateral grooves at evaporator section. Flat plate pulsating heat pipes were tested under different operating conditions, such as tilt angles, heat input levels, and filling ratios, concluding that higher roughness or grooves at evaporator zone enhance the thermal performance of the devices, as start-up time, thermal resistance and thermal stability. However, the most relevant parameters, to decrease the dependence of the gravity in the operation of the pulsating heat pipe, are the number of channels and the working fluid filling ratios. A mathematical model, based on electrical circuit analogy, is constructed, taking into consideration the activation energy. Model validation was made with the experimental date obtained from the devices developed in this thesis. The model presented a maximum error of 25-30%, at vertical bottom heat mode and vertical top heat mode. The main contributions of this Ph.D. thesis are: the development of modified pulsating heat pipes using effective thermal improvements; the production of a reliable fabrication process compatible with the proposed thermal enhancements and, finally, a model that can be used as a design tool for pulsating heat pipes fabricated from machined plates. Resumen: En el presente trabajo, se realiza un análisis teórico y experimental del desempeño térmico de tubos de calor pulsantes de placa plana, fabricados en cobre. Los tubos de calor pulsantes fueron fabricados utilizando un proceso de fabricación innovador para esta aplicación, la difusión vinculación. Para ello se utilizó un horno especial, disponible en Labtucal, que proporciona alta temperatura, alta presión y alto vacío, lo que permite la fabricación de piezas monolíticas de alta confiabilidad. Se utilizaron placas de igual tamaño externo, en las que el Se modificaron los canales internos. Se aplicaron diferentes geometrías, incluyendo la variación de el número de canales para las mismas dimensiones generales (aumento de densidad), modificaciones del acabado superficial (rugosidad) y adición de ranuras laterales en la sección del evaporador. placa plana Los tubos de calor pulsantes se probaron en diferentes condiciones de funcionamiento, como ángulos de inclinación, calor suministrado, relaciones de llenado, concluyendo que una mayor rugosidad o ranuras en la zona del evaporador mejora el rendimiento térmico de los dispositivos, como el tiempo de inicio de operación, la resistencia térmica y la estabilidad de la temperatura. Sin embargo, los parámetros más relevantes, para disminuir la dependencia de la gravedad en el funcionamiento del tubo de calor pulsante, fueron el número de canales y las proporciones del llenado de fluido de trabajo. Se construye un modelo matemático, basado en la analogía del circuito eléctrico, tomando en Consideración la energía de activación. La validación del modelo se realizó con los datos experimentales obtenidos a partir de los dispositivos desarrollados en esta tesis. Las principales contribuciones de este doctorado tesis son: el desarrollo de tubos de calor pulsantes modificados utilizando mejoras térmicasla producción de un proceso de fabricación confiable y un modelo que se puede utilizar como herramienta de diseño.

Abstract: Perennial ryegrass (Lolium perenne) is the predominant forage crop in the equatorial highland zones of Colombia due to its high nutritional value and versatility to produce both milk and meat. This study aimed to determine the relationship between the relative depletion of usable soil water and the Ks values of canopy expansion and closure stomatal of perennial ryegrass, as well as to identify the threshold values of water stress. The experiment was carried out in pots under a controlled environment condition. These pots were arranged in a completely randomized manner. The experiment consisted of five treatments—including control treatment—of water deficits in the soil that progressively increased the depletion level as the crop cycle developed. This generated a wide range of conditions in the growth stages. For each treatment, four repetitions were performed Biomass production was significantly affected by water stress. The results show that the upper and lower thresholds of Ks were 0.28 and 1.3 of the depletion level (p) of the total available water (TAW) in the soil for the expansion of the canopy (CE), and 0.25 and 1.1 p of the TAW for stomatal closure (gs). Quadratic functions were fitted for both the CE (R2 = 0.72) and CS (R2 = 0.73); moreover, the Ks function of FAO-AquaCrop with positive shape factor (sf) was as follows: sf = 11, RMSE 0.22 for CE, and sf = 4.3, RMSE 0.19 for gs. Our results indicate that ryegrass is moderately sensitive to water stress. The differences found between the Ks function of FAO and the experimental data call for the need to use modeling with parameters adapted for each case. Resumen: El raigrás perenne (Lolium perenne) es el cultivo forrajero predominante en las zonas altas ecuatoriales de Colombia debido a su alto valor nutricional y versatilidad para producir tanto leche como carne. Este estudio tuvo como objetivo determinar la relación entre el agotamiento relativo del agua utilizable del suelo y los valores de Ks de la expansión del dosel y el cierre estomático del raigrás perenne, así como identificar los valores de los umbrales de estrés hídrico. El experimento se llevó a cabo en macetas en condiciones de ambiente controlado. Estas macetas se dispusieron de forma completamente aleatoria. El experimento consistió en cinco tratamientos, incluido el tratamiento de control, de déficit de agua en el suelo que aumentaron progresivamente el nivel de agotamiento a medida que se desarrollaba el ciclo del cultivo. Esto generó una amplia gama de condiciones en las etapas de crecimiento. Para cada tratamiento se realizaron cuatro repeticiones. La producción de biomasa se vio significativamente afectada por el estrés hídrico. Los resultados muestran que los umbrales superior e inferior de Ks fueron 0.28 y 1.3 del nivel de agotamiento (p) del agua total disponible (AAT) en el suelo para la expansión del dosel (ED), y 0.25 y 1.1 p del AAT para cierre de estomas (gs). Se ajustaron funciones cuadráticas tanto para ED (R2 = 0,72) como para cierre de estomas gs (R2 = 0,73); además, la función Ks de FAO-AquaCrop con factor de forma positivo (Ff) fue la siguiente: Ff = 11, RMSE 0,22 para ED y Ff = 4,3, RMSE 0,19 para gs. Nuestros resultados indican que el raigrás es moderadamente sensible al estrés hídrico. Las diferencias encontradas entre la función Ks de FAO y los datos experimentales hacen necesaria la utilización de modelos con parámetros adaptados a cada caso.

Abstract: The constant evolution of power systems and their protection and control systems has brought the need to investigate different concepts that could help improve the implementation and testing of protection and control systems during the complete lifecycle of electrical substations. Centralized protection and control system is a concept that has been under study for many years already but has gained more force lately, thanks to the evolution of computing technology and the more substantial influence of the standard IEC61850 in electrical substations. This thesis has studied the centralized protection and control systems starting with the development of a market availably. The result shows that even though the general concept between the available systems is the same, the specific architecture depends on the technology used to implement the centralized concept. The result also shows that the two technologies leading the market availability are the SASensor from Locamation and the SSC600 from ABB. The technologies virtualization and Synaptec’s Refase system are also investigated in this thesis. Protection and control test methodologies do also depend on the technology to be tested. Therefore, this thesis shows an overall protection and control testing lifecycle analysis of a centralized protection and control system. The architecture of the reference system used for the testing lifecycle evaluation has similarities to a decentralized digital substation architecture. Using that kind of architecture allows fully IEC61850 based protection and control testing, as the results have shown it. Therefore, knowledge, tools, and procedures developed for decentralized digital substations also apply to the centralized concept. The last part of this work presents a practical application example that uses the SSC600 as a protection and control central unit. The device configuration is based on a power system example designed for the thesis. The IEC61850 system engineering of the system and test procedures are part of the results of the practical part.