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- All Subjects: engineering
- Creators: Barrett, The Honors College
- Member of: Theses and Dissertations
The goal of this research was to identify why the federal government should invest in solar research and development, and which areas of solar improvement should be focused on. Motivation for this can be found in the pressing need to prevent and reverse the effects of climate change, the inevitability of fossil fuel resources eventually running out, and the economic and job creation potential which solar energy holds. Additionally, it is important to note that the best course of action will involve a split of funding between current solar rollout and energy grid updating, and the R&D listed in this research. Upon examination, it can be seen that an energy revolution, led by a federal solar jobs program and a Green New Deal, would be both an ethically and economically beneficial solution. A transition from existing fossil fuel infrastructure to renewable, solar-powered infrastructure would not only be possible but highly beneficial in many aspects, including massive job creation, a more affordable, renewable energy solution to replace coal-fired plants, and no fuel spending or negotiation required.<br/>When examining which areas of solar improvement to focus on for R&D funding, four primary areas were identified, with solutions presented for each. These areas for improvement are EM capture, EM conversion efficiency, energy storage capacity, and the prevention of overheating. For each of these areas of improvement, affordable solutions that would greatly improve the efficiency and viability of solar as a primary energy source were identified. The most notable area that should be examined is solar storage, which would allow solar PV panels to overcome their greatest real and perceived obstacle, which is the inconsistent power generation. Solar storage is easily attainable, and with enough storage capacity, excess solar energy which would otherwise be wasted during the day can be stored and used during the night or cloudy weather as necessary. Furthermore, the implementation of highly innovative solutions, such as agrivoltaics, would allow for a solar revolution to occur.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.