Projeto topológico de uma rede rodoviária

Mestrado em Engenharia Informática - Área de Especialização em Sistemas Gráficos e Multimédia

Cost Allocation Model for Distribution Networks Considering High Penetration of Distributed Energy Resources

The high penetration of distributed energy resources (DER) in distribution networks and the competitiveenvironment of electricity markets impose the use of new approaches in several domains. The networkcost allocation, traditionally used in transmission networks, should be adapted and used in the distribu-tion networks considering the specifications of the connected resources. The main goal is to develop afairer methodology trying to distribute the distribution network use costs to all players which are usingthe network in each period. In this paper, a model considering different type of costs (fixed, losses, andcongestion costs) is proposed comprising the use of a large set of DER, namely distributed generation(DG), demand response (DR) of direct load control type, energy storage systems (ESS), and electric vehi-cles with capability of discharging energy to the network, which is known as vehicle-to-grid (V2G). Theproposed model includes three distinct phases of operation. The first phase of the model consists in aneconomic dispatch based on an AC optimal power flow (AC-OPF); in the second phase Kirschen’s andBialek’s tracing algorithms are used and compared to evaluate the impact of each resource in the net-work. Finally, the MW-mile method is used in the third phase of the proposed model. A distributionnetwork of 33 buses with large penetration of DER is used to illustrate the application of the proposedmodel.

New and low cost plastic membrane electrode with low detection limits for sulfadimethoxine determination in aquaculture waters

Sulfadimethoxine (SDM) is one of the drugs, often used in the aquaculture sector to prevent the spread of disease in freshwater fish aquaculture. Its spread through the soil and surface water can contribute to an increase in bacterial resistance. It is therefore important to control this product in the environment. This work proposes a simple and low-cost potentiometric device to monitor the levels of SDM in aquaculture waters, thus avoiding its unnecessary release throughout the environment. The device combines a micropipette tip with a PVC membrane selective to SDM, prepared from an appropriate cocktail, and an inner reference solution. The membrane includes 1% of a porphyrin derivative acting as ionophore and a small amount of a lipophilic cationic additive (corresponding to 0.2% in molar ratio). The composition of the inner solution was optimized with regard to the kind and/or concentration of primary ion, chelating agent and/or a specific interfering charged species, in different concentration ranges. Electrodes constructed with inner reference solutions of 1 × 10−8 mol/L SDM and 1 × 10−4 mol/L chromate ion showed the best analytical features. Near-Nernstian response was obtained with slopes of −54.1 mV/decade, an extraordinary detection limit of 7.5 ng/mL (2.4 × 10−8 mol/L) when compared with other electrodes of the same type. The reproducibility, stability and response time are good and even better than those obtained by liquid contact ISEs. Recovery values of 98.9% were obtained from the analysis of aquaculture water samples.

Pseudo Phase Plane and Fractional Calculus Modelling of Western Global Economic Downturn

This paper applies Pseudo Phase Plane (PPP) and Fractional Calculus (FC) mathematical tools for modeling world economies. A challenging global rivalry among the largest international economies began in the early 1970s, when the post-war prosperity declined. It went on, up to now. If some worrying threatens may exist actually in terms of possible ambitious military aggression, invasion, or hegemony, countries’ PPP relative positions can tell something on the current global peaceful equilibrium. A global political downturn of the USA on global hegemony in favor of Asian partners is possible, but can still be not accomplished in the next decades. If the 1973 oil chock has represented the beginning of a long-run recession, the PPP analysis of the last four decades (1972–2012) does not conclude for other partners’ global dominance (Russian, Brazil, Japan, and Germany) in reaching high degrees of similarity with the most developed world countries. The synergies of the proposed mathematical tools lead to a better understanding of the dynamics underlying world economies and point towards the estimation of future states based on the memory of each time series.

A Fractional Perspective to the Bond Graph Modelling of World Economies

Inspired in dynamic systems theory and Brewer’s contributions to apply it to economics, this paper establishes a bond graph model. Two main variables, a set of inter-connectivities based on nodes and links (bonds) and a fractional order dynamical perspective, prove to be a good macro-economic representation of countries’ potential performance in nowadays globalization. The estimations based on time series for 50 countries throughout the last 50 decades confirm the accuracy of the model and the importance of scale for economic performance.

A framework for using real data with distributed low cost sensors

Currently, due to the widespread use of computers and the internet, students are trading libraries for the World Wide Web and laboratories with simulation programs. In most courses, simulators are made available to students and can be used to proof theoretical results or to test a developing hardware/product. Although this is an interesting solution: low cost, easy and fast way to perform some courses work, it has indeed major disadvantages. As everything is currently being done with/in a computer, the students are loosing the “feel” of the real values of the magnitudes. For instance in engineering studies, and mainly in the first years, students need to learn electronics, algorithmic, mathematics and physics. All of these areas can use numerical analysis software, simulation software or spreadsheets and in the majority of the cases data used is either simulated or random numbers, but real data could be used instead. For example, if a course uses numerical analysis software and needs a dataset, the students can learn to manipulate arrays. Also, when using the spreadsheets to build graphics, instead of using a random table, students could use a real dataset based, for instance, in the room temperature and its variation across the day. In this work we present a framework which uses a simple interface allowing it to be used by different courses where the computers are the teaching/learning process in order to give a more realistic feeling to students by using real data. A framework is proposed based on a set of low cost sensors for different physical magnitudes, e.g. temperature, light, wind speed, which are connected to a central server, that the students have access with an Ethernet protocol or are connected directly to the student computer/laptop. These sensors use the communication ports available such as: serial ports, parallel ports, Ethernet or Universal Serial Bus (USB). Since a central server is used, the students are encouraged to use sensor values results in their different courses and consequently in different types of software such as: numerical analysis tools, spreadsheets or simply inside any programming language when a dataset is needed. In order to do this, small pieces of hardware were developed containing at least one sensor using different types of computer communication. As long as the sensors are attached in a server connected to the internet, these tools can also be shared between different schools. This allows sensors that aren't available in a determined school to be used by getting the values from other places that are sharing them. Another remark is that students in the more advanced years and (theoretically) more know how, can use the courses that have some affinities with electronic development to build new sensor pieces and expand the framework further. The final solution provided is very interesting, low cost, simple to develop, allowing flexibility of resources by using the same materials in several courses bringing real world data into the students computer works.

Modelling and Control of Freeway Traffic

This paper presents the most recent developments of the Simulator of Intelligent Transportation Systems (SITS). The SITS is based on a microscopic simulation approach to reproduce real traffic conditions in an urban or non-urban network. In order to analyse the quality of the microscopic traffic simulator SITS a benchmark test was performed. A dynamical analysis of several traffic phenomena, applying a new modelling formalism based on the embedding of statistics and Laplace transform, is then addressed. The paper presents also a new traffic control concept applied to a freeway traffic system.

Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle

This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.

Estudo da resistência de juntas adesivas em L entre alumínio e material compósito

As ligações adesivas são frequentemente utilizadas na fabricação de estruturas complexas que não poderiam ou não seriam tão fáceis de ser fabricadas numa só peça, a fim de proporcionar uma união estrutural que, teoricamente, deve ser pelo menos tão resistente como o material de base. As juntas adesivas têm vindo a substituir métodos como a soldadura, e ligações parafusadas e rebitadas, devido à facilidade de fabricação, menor custo, facilidade em unir materiais diferentes, melhor resistência, entre outras características. Os materiais compósitos reforçados com fibra de carbono são amplamente utilizados em muitas indústrias, tais como de construção de barcos, automóvel e aeronáutica, sendo usados em estruturas que requerem elevada resistência e rigidez específicas, o que reduz o peso dos componentes, mantendo a resistência e rigidez necessárias para suportar as diversas cargas aplicadas. Embora estes métodos de fabricação reduzam ao máximo as ligações através de técnicas de fabrico avançadas, estas ainda são necessárias devido ao tamanho dos componentes, limitações de projecto tecnológicas e logísticas. Em muitas estruturas, a combinação de compósitos com metais tais como alumínio ou titânio traz vantagens de projecto. Este trabalho tem como objectivo estudar, experimentalmente e por modelos de dano coesivo (MDC), juntas adesivas em L entre componentes de alumínio e compósito de carbono epóxido quando solicitados a forças de arrancamento, considerando diferentes configurações de junta e adesivos de ductilidade distinta. Os parâmetros geométricos abordados são a espessura do aderente de alumínio (tP2) e comprimento de sobreposição (LO). A análise numérica permitiu o estudo da distribuição das tensões, evolução do dano, resistência e modos de rotura. Os testes experimentais validam os resultados numéricos e fornecem mecanismos de projecto para juntas em L. Foi mostrado que a geometria do aderente em L (alumínio) e o tipo de adesivo têm uma influência directa na resistência de junta.

Cost allocation model for distribution networks considering high penetration of distributed energy resources

The high penetration of distributed energy resources (DER) in distribution networks and the competitive environment of electricity markets impose the use of new approaches in several domains. The network cost allocation, traditionally used in transmission networks, should be adapted and used in the distribution networks considering the specifications of the connected resources. The main goal is to develop a fairer methodology trying to distribute the distribution network use costs to all players which are using the network in each period. In this paper, a model considering different type of costs (fixed, losses, and congestion costs) is proposed comprising the use of a large set of DER, namely distributed generation (DG), demand response (DR) of direct load control type, energy storage systems (ESS), and electric vehicles with capability of discharging energy to the network, which is known as vehicle-to-grid (V2G). The proposed model includes three distinct phases of operation. The first phase of the model consists in an economic dispatch based on an AC optimal power flow (AC-OPF); in the second phase Kirschen's and Bialek's tracing algorithms are used and compared to evaluate the impact of each resource in the network. Finally, the MW-mile method is used in the third phase of the proposed model. A distribution network of 33 buses with large penetration of DER is used to illustrate the application of the proposed model.

Efficiency of strengthening techniques assessed for existing masonry buildings

The Azores archipelago is a zone with a vast cultural heritage, presenting a building stock mainly constructed in traditional stone masonry. It is known that this type of construction exhibits poor behaviour under seismic excitations; however it is extensively used in seismic prone areas, such as this case. The 9th of July of 1998 earthquake was the last seismic event in the islands, leaving many traditional stone constructions severely damaged or totally destroyed. This scenario led to an effort by the local government of improving the seismic resistance of these constructions, with the application of several reinforcement techniques. This work aims to study some of the most used reinforcement schemes after the 1998 earthquake, and to assess their effectiveness in the mitigation of the construction’s seismic vulnerability. A brief evaluation of the cost versus benefit of these retrofitting techniques is also made, seeking to identify those that are most suitable for each building typology. Thus, it was sought to analyze the case of real structures with different geometrical and physical characteristics, by establishing a comparison between the seismic performance of reinforced and non-reinforced structures. The first section contains the analysis of a total of six reinforcement scenarios for each building chosen. Using the recorded 1998 earthquake accelerograms, a linear time-history analysis was performed for each reinforcement scenario. A comparison was then established between the maximum displacements, inter-storey drift and maximum stress obtained, in order to evaluate the global seismic response of each reinforced structure. In the second part of the work, the examination of the performance obtained in the previous section, in relation to the cost of implementing each reinforcement technique, allowed to draw conclusions concerning the viability of implementing each reinforcement method, based on the book value of the buildings in study.

Projeto e desenvolvimento de células robotizadas para soldadura e cladding

A utilização de equipamentos robóticos para o processo de soldadura por arco elétrico teve um forte crescimento nas décadas de 80 e 90, altura em que o custo e fiabilidade da tecnologia passou a permitir a integração de robôs em linhas de produção ou em células de fabrico. Depressa cresceram as exigências de uma produção com qualidade repetitiva e facilmente ajustável, e as restrições ao uso de processos manuais ou de tecnologias com pouca flexibilidade. Desde o início do século XXI que a renovação de uma estação de fabrico de peças soldadas para produção em série, especialmente no setor automóvel, parece forçada à integração de robôs industriais, que assim se tornaram símbolos de produtividade. A KAMAZ encontra-se atualmente a renovar alguns dos seus processos de fabrico, incluindo as áreas de soldadura por arco ou cladding. Esta Dissertação aborda o trabalho elaborado, depois de contratualizada com a ABB Rússia a instalação de novas células de fabrico robotizado nesta empresa. Este projeto tem início com o levantamento das necessidades, a verificação do processo existente, e a procura da solução tecnológica que se adapte a essas condições e cumpra os requisitos acordados. São realizadas modelações e simulações off-line em 3D, usando o software RobotStudio da ABB, que permitiram testar cada solução e analisar a sua adequação e viabilidade. Para maior garantia de se obter a qualidade esperada na fusão e deposição do material por processo com arco elétrico revestido a gás, foram realizados testes reais utilizando equipamento robótico em condições baseadas nos testes feitos no ambiente virtual. Por último, são ajustadas as localizações dos postos de trabalho ao layout existente e é feito o balanceamento do tempo de operação manual com o tempo do processo robotizado. Este projeto de Tese termina com a aceitação do cliente para a solução encontrada e para os resultados dos testes reais de ambos os processos.

Esclonamento de máquinas de cogeração utilzando programação inteira mista

As centrais termoelétricas convencionais convertem apenas parte do combustível consumido na produção de energia elétrica, sendo que outra parte resulta em perdas sob a forma de calor. Neste sentido, surgiram as unidades de cogeração, ou Combined Heat and Power (CHP), que permitem reaproveitar a energia dissipada sob a forma de energia térmica e disponibilizá-la, em conjunto com a energia elétrica gerada, para consumo doméstico ou industrial, tornando-as mais eficientes que as unidades convencionais Os custos de produção de energia elétrica e de calor das unidades CHP são representados por uma função não-linear e apresentam uma região de operação admissível que pode ser convexa ou não-convexa, dependendo das caraterísticas de cada unidade. Por estas razões, a modelação de unidades CHP no âmbito do escalonamento de geradores elétricos (na literatura inglesa Unit Commitment Problem (UCP)) tem especial relevância para as empresas que possuem, também, este tipo de unidades. Estas empresas têm como objetivo definir, entre as unidades CHP e as unidades que apenas geram energia elétrica ou calor, quais devem ser ligadas e os respetivos níveis de produção para satisfazer a procura de energia elétrica e de calor a um custo mínimo. Neste documento são propostos dois modelos de programação inteira mista para o UCP com inclusão de unidades de cogeração: um modelo não-linear que inclui a função real de custo de produção das unidades CHP e um modelo que propõe uma linearização da referida função baseada na combinação convexa de um número pré-definido de pontos extremos. Em ambos os modelos a região de operação admissível não-convexa é modelada através da divisão desta àrea em duas àreas convexas distintas. Testes computacionais efetuados com ambos os modelos para várias instâncias permitiram verificar a eficiência do modelo linear proposto. Este modelo permitiu obter as soluções ótimas do modelo não-linear com tempos computationais significativamente menores. Para além disso, ambos os modelos foram testados com e sem a inclusão de restrições de tomada e deslastre de carga, permitindo concluir que este tipo de restrições aumenta a complexidade do problema sendo que o tempo computacional exigido para a resolução do mesmo cresce significativamente.