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The demand for increased renewable energy production has led to increased photovoltaic (PV) installations worldwide. As this demand continues to grow, it is important that the costs of PV installations decrease while the power output capability increases. One of the components in PV installations that has lots of room for improvement is the power conditioning system. The power conditioning system is responsible for converting the power output of PV modules into power useable by the utility grid while insuring the PV array is outputting the maximum available power. Modular power conditioning systems, where each PV module has its own power converter, have been proven to yield higher output power due to their superior maximum power point tracking capabilities. However, this comes with the disadvantages of higher costs and lower power conversion efficiencies due to the increased number of power electronics converters. The primary objective of this dissertation is to develop a high-efficiency, low cost microconverter in an effort to increase the output power capability and decrease the cost of modular power conditioning systems. First, existing isolated dc-dc converter topologies are explored and a new topology is proposed based on the highly-efficient series resonant converter operating near the series resonant frequency. Two different hybrid modes of operation are introduced in order to add wide input-voltage regulation capability to the series resonant converter while achieving high efficiency through low circulating currents, zero-current switching (ZCS) of the output diodes, zero-voltage switching (ZVS) and/or ZCS of the primary side active switches, and direct power transfer from the source to the load for the majority of the switching cycle. Each operating mode is analyzed in detail using state-plane trajectory plots. A systematic design approach that is unique to the newly proposed converter is presented along with a detailed loss analysis and loss model. A 300-W microconverter prototype is designed to experimentally validate the analysis and loss model. The converter featured a 97.7% weighted California Energy Commission (CEC) efficiency with a nominal input voltage of 30 V. This is higher than any other reported CEC efficiency for PV microconverters in literature to date. Each operating mode of the proposed converter can be controlled using simple fixed-frequency pulse-width modulation (PWM) based techniques, which makes implementation of control straightforward. Simplified models of each operating mode are derived as well as control-to-input voltage transfer functions. A smooth transition method is then introduced using a two-carrier PWM modulator, which allows the converter to transition between operating modes quickly and smoothly. The performance of the voltage controllers and transition method were verified experimentally. To ensure the proposed converter is compatible with different types of modular power conditioning system architectures, system-level interaction issues associated with different modular applications are explored. The first issue is soft start, which is necessary when the converter is beginning operation with a large capacitive load. A novel soft start method is introduced that allows the converter to start up safely and quickly, even with a short-circuited output. Maximum power point tracking and double line frequency ripple rejection are also explored, both of which are very important to ensuring the PV module is outputting the maximum amount of available power. Lastly, this work deals with efficiency optimization of the proposed converter. It is possible to use magnetic integration so that the resonant inductor can be incorporated into the isolation transformer by way of the transformer leakage inductance in order to reduce parts count and associated costs. This chapter, however, analyzes the disadvantages to this technique, which are increased proximity effect losses resulting in higher conduction losses. A new prototype is designed and tested that utilizes an external resonant inductor and the CEC efficiency was increased from 97.7% to 98.0% with a marginal 1.8% total cost increase. Additionally, a variable frequency efficiency optimization algorithm is proposed which increases the system efficiency under the high-line and low-line input voltage conditions. This algorithm is used for efficiency optimization only and not control, so the previously presented simple fixed-frequency modeling and control techniques can still be utilized. Ph. D.

In this thesis, we examine algorithms for the division of labour in a group of robot. The algorithms make no use of direct communication. Instead, they are based only on the interactions among the robots and between the group and the environment.Division of labour is the mechanism that decides how many robots shall be used to perform a task. The efficiency of the group of robots depends in fact on the number of robots involved in a task. If too few robots are used to achieve a task, they might not be successful or might perform poorly. If too many robots are used, it might be a waste of resources. The number of robots to use might be decided a priori by the system designer. More interestingly, the group of robots might autonomously select how many and which robots to use. In this thesis, we study algorithms of the latter type.The robotic literature offers already some solutions, but most of them use a form of direct communication between agents. Direct, or explicit, communication between the robots is usually considered a necessary condition for co-ordination. Recent studies have questioned this assumption. The claim is based on observations of animal colonies, e.g. ants and termites. They can effectively co-operate without directly communicating, but using indirect forms of communication like stigmergy. Because they do not rely on communication, such colonies show robust behaviours at group level, a condition that one wishes also for groups of robots. Algorithms for robot co-ordination without direct communication have been proposed in the last few years. They are interesting not only because they are a stimulating intellectual challenge, but also because they address a situation that might likely occur when using robots for real-world out-door applications. Unfortunately, they are still poorly studied.This thesis helps the understanding and the development of such algorithms. We start from a specific case to learn its characteristics. Then we improve our understandings through comparisons with other solutions, and finally we port everything into another domain.We first study an algorithm for division of labour that was inspired by ants' foraging. We test the algorithm in an application similar to ants' foraging: prey retrieval. We prove that the model used for ants' foraging can be effective also in real conditions. Our analysis allows us to understand the underlying mechanisms of the division of labour and to define some way of measuring it.Using this knowledge, we continue by comparing the ant-inspired algorithm with similar solutions that can be found in the literature and by assessing their differences. In performing these comparisons, we take care of using a formal methodology that allows us to spare resources. Namely, we use concepts of experiment design to reduce the number of experiments with real robots, without losing significance in the results.Finally, we apply and port what we previously learnt into another application: Sensor/Actor Networks (SANETs). We develop an architecture for division of labour that is based on the same mechanisms as the ants' foraging model. Although the individuals in the SANET can communicate, the communication channel might be overloaded. Therefore, the agents of a SANET shall be able to co-ordinate without accessing the communication channel., Doctorat en sciences appliquées, info:eu-repo/semantics/nonPublished

This paper provides an overview of the SWARM-BOTS project, a robotic project sponsored by the Future and Emerging Technologies program of the European Community (IST-2000-31010). The paper illustrates the robot hardware, and the results of experimental works in which distributed adaptive controllers are designed to allow the agents to perform a variety of tasks which require cooperation and coordination among the members of a group.