LMP based bid formation for virtual power players operating in smart grids

Power system organization has gone through huge changes in the recent years. Significant increase in distributed generation (DG) and operation in the scope of liberalized markets are two relevant driving forces for these changes. More recently, the smart grid (SG) concept gained increased importance, and is being seen as a paradigm able to support power system requirements for the future. This paper proposes a computational architecture to support day-ahead Virtual Power Player (VPP) bid formation in the smart grid context. This architecture includes a forecasting module, a resource optimization and Locational Marginal Price (LMP) computation module, and a bid formation module. Due to the involved problems characteristics, the implementation of this architecture requires the use of Artificial Intelligence (AI) techniques. Artificial Neural Networks (ANN) are used for resource and load forecasting and Evolutionary Particle Swarm Optimization (EPSO) is used for energy resource scheduling. The paper presents a case study that considers a 33 bus distribution network that includes 67 distributed generators, 32 loads and 9 storage units.

WEXSYS - Web Expert System

Desde o início que os sistemas periciais não foram vistos apenas como sistemas que poderiam substituir os peritos. Os peritos por sua vez, independentemente da área em que operam, eram tidos como indivíduos que atingiram a excelência através da experiência, estudo e total dedicação, por vezes durante anos. Hoje, mais do que assumir o papel de um perito na excelência de uma área de actuação, os sistemas periciais sobressaem pela disponibilidade contínua, acessos facilitados, custos reduzidos, estabilidade de funcionamento e coerência de raciocínio. Empurrados pelos avanços actuais das redes em termos de velocidade e propagação global, estes sistemas são hoje disponibilizados de forma mais simples e acessível. Este trabalho é realizado com o propósito de evoluir o actual sistema para uma versão mais apelativa, funcional e fiável. Um dos objectivos passa pela evolução do actual modo de funcionamento, utilização local e apenas um utilizador, para um modo de funcionamento que permita uma disponibilização num ambiente de acesso global, acessível a qualquer hora e em qualquer local.

Optimized near real-time remote device tracking and monitoring system

Os serviços baseados em localização vieram dar um novo alento à criatividade dos programadores de aplicações móveis. A vulgarização de dispositivos com capacidades de localização integradas deu origem ao desenvolvimento de aplicações que gerem e apresentam informação baseada na posição do utilizador. Desde então, o mercado móvel tem assistido ao aparecimento de novas categorias de aplicações que tiram proveito desta capacidade. Entre elas, destaca-se a monitorização remota de dispositivos, que tem vindo a assumir uma importância crescente, tanto no sector particular como no sector empresarial. Esta dissertação começa por apresentar o estado da arte sobre os diferentes sistemas de posicionamento, categorizados pela sua eficácia em ambientes internos ou externos, assim como diferentes protocolos de comunicação em tempo quase-real. É também feita uma análise ao estado actual do mercado móvel. Actualmente o mercado possui diferentes plataformas móveis com características únicas que as fazem rivalizar entre si, com vista a expandirem a sua quota de mercado. É por isso elaborado um breve estudo sobre os sistemas operativos móveis mais relevantes da actualidade. É igualmente feita uma abordagem mais profunda à arquitectura da plataforma móvel da Apple - o iOS – que serviu de base ao desenvolvimento de uma solução optimizada para localização e monitorização de dispositivos móveis. A monitorização implica uma utilização intensiva de recursos energéticos e de largura de banda que os dispositivos móveis da actualidade não estão aptos a suportar. Dado o grande consumo energético do GPS face à precária autonomia destes dispositivos, é apresentado um estudo em que se expõem soluções que permitem gerir de forma optimizada a utilização do GPS. O elevado custo dos planos de dados facultados pelas operadoras móveis é também considerado, pelo que são exploradas soluções que visam minimizar a utilização de largura de banda. Deste trabalho, nasce a aplicação EyeGotcha, que para além de permitir localizar outros utilizadores de dispositivos móveis de forma optimizada, permite também monitorizar as suas acções baseando-se num conjunto de regras pré-definidas. Estas acções são reportadas às entidades monitoras, de modo automatizado e sob a forma de alertas. Visionando-se a comercialização da aplicação, é portanto apresentado um modelo de negócio que permite obter receitas capazes de cobrirem os custos de manutenção de serviços, aos quais o funcionamento da aplicação móvel está subjugado.

Study of the voltammetric behaviour of metam and its application to an amperometric flow system

The electrochemical behaviour of the pesticide metam (MT) at a glassy carbon working electrode (GCE) and at a hanging mercury drop electrode (HMDE) was investigated. Different voltammetric techniques, including cyclic voltammetry (CV) and square wave voltammetry (SWV), were used. An anodic peak (independent of pH) at +1.46 V vs AgCl/Ag was observed in MTaqueous solution using the GCE. SWV calibration curves were plotted under optimized conditions (pH 2.5 and frequency 50 Hz), which showed a linear response for 17–29 mg L−1. Electrochemical reduction was also explored, using the HMDE. A well defined cathodic peak was recorded at −0.72 V vs AgCl/ Ag, dependent on pH. After optimizing the operating conditions (pH 10.1, frequency 150 Hz, potential deposition −0.20 V for 10 s), calibration curves was measured in the concentration range 2.5×10−1 to 1.0 mg L−1 using SWV. The electrochemical behaviour of this compound facilitated the development of a flow injection analysis (FIA) system with amperometric detection for the quantification of MT in commercial formulations and spiked water samples. An assessment of the optimal FIA conditions indicated that the best analytical results were obtained at a potential of +1.30 V, an injection volume of 207 μL and an overall flow rate of 2.4 ml min−1. Real samples were analysed via calibration curves over the concentration range 1.3×10−2 to 1.3 mg L−1. Recoveries from the real samples (spiked waters and commercial formulations) were between 97.4 and 105.5%. The precision of the proposed method was evaluated by assessing the relative standard deviation (RSD %) of ten consecutive determinations of one sample (1.0 mg L−1), and the value obtained was 1.5%.

Run-time monitoring in real-time operating systems

Embedded systems are increasingly complex and dynamic, imposing progressively higher developing time and costs. Tuning a particular system for deployment is thus becoming more demanding. Furthermore when considering systems which have to adapt themselves to evolving requirements and changing service requests. In this perspective, run-time monitoring of the system behaviour becomes an important requirement, allowing to dynamically capturing the actual scheduling progress and resource utilization. For this to succeed, operating systems need to expose their internal behaviour and state, making it available to external applications, and a runtime monitoring mechanism must be available. However, such mechanism can impose a burden in the system itself if not wisely used. In this paper we explore this problem and propose a framework, which is intended to provide this run-time mechanism whilst achieving code separation, run-time efficiency and flexibility for the final developer.

Distributed active traction control system applied to the RoboCup middle size league

This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies in local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto robots and was used to control and detect loss of for traction. %and to detect the ball in the kicking device. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.

Modeling and control of a dragonfly-like robot

Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, the dynamics of a dragonfly-inspired robot is studied. The system performance is analyzed in terms of time response and robustness. The development of computational simulation based on the dynamics of the robotic dragonfly allows the test of different control algorithms. We study different movements, the dynamics, and the level of dexterity in wing motion of the dragonfly. The results are positive for the construction of flying platforms that effectively mimic the kinematics and dynamics of dragonflies and potentially exhibit superior flight performance than existing flying platforms.

A mobile robot platform for open learning based on serious games and remote laboratories

Within the pedagogical community, Serious Games have arisen as a viable alternative to traditional course-based learning materials. Until now, they have been based strictly on software solutions. Meanwhile, research into Remote Laboratories has shown that they are a viable, low-cost solution for experimentation in an engineering context, providing uninterrupted access, low-maintenance requirements, and a heightened sense of reality when compared to simulations. This paper will propose a solution where both approaches are combined to deliver a Remote Laboratory-based Serious Game for use in engineering and school education. The platform for this system is the WebLab-Deusto Framework, already well-tested within the remote laboratory context, and based on open standards. The laboratory allows users to control a mobile robot in a labyrinth environment and take part in an interactive game where they must locate and correctly answer several questions, the subject of which can be adapted to educators' needs. It also integrates the Google Blockly graphical programming language, allowing students to learn basic programming and logic principles without needing to understand complex syntax.

Multiagent System Architecture for Short-term Operation of Integrated Microgrids

The forthcoming smart grids are comprised of integrated microgrids operating in grid-connected and isolated mode with local generation, storage and demand response (DR) programs. The proposed model is based on three successive complementary steps for power transaction in the market environment. The first step is characterized as a microgrid’s internal market; the second concerns negotiations between distinct interconnected microgrids; and finally, the third refers to the actual electricity market. The proposed approach is modeled and tested using a MAS framework directed to the study of the smart grids environment, including the simulation of electricity markets. This is achieved through the integration of the proposed approach with the MASGriP (Multi-Agent Smart Grid Platform) system.

A Real Time Vision System for Autonomous Systems: Characterization during a Middle Size Match

in RoboCup 2007: Robot Soccer World Cup XI

Cascade Control of a Hexapod Robot

6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 September

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

TIGRE - An autonomous ground robot for outdoor exploration

13th International Conference on Autonomous Robot Systems (Robotica), 2013

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.

Neural control of an autonomous robot

This article aims to apply the concepts associated with artificial neural networks (ANN) in the control of an autonomous robot system that is intended to be used in competitions of robots. The robot was tested in several arbitrary paths in order to verify its effectiveness. The results show that the robot performed the tasks with success. Moreover, in the case of arbitrary paths the ANN control outperforms other methodologies, such as fuzzy logic control (FLC).