Optimal location of gas supply units in natural gas system network

Natural gas industry has been confronted with big challenges: great growth in demand, investments on new GSUs – gas supply units, and efficient technical system management. The right number of GSUs, their best location on networks and the optimal allocation to loads is a decision problem that can be formulated as a combinatorial programming problem, with the objective of minimizing system expenses. Our emphasis is on the formulation, interpretation and development of a solution algorithm that will analyze the trade-off between infrastructure investment expenditure and operating system costs. The location model was applied to a 12 node natural gas network, and its effectiveness was tested in five different operating scenarios.

Modelização do despacho económico de Gás Natural

Com as variações e instabilidade dos preços do petróleo, assim como as políticas europeias para adoção de estratégias para o desenvolvimento sustentável, têm levado à procura de forma crescente de novas tecnologias e fontes de energia alternativas. Neste contexto, tem-se assistido a políticas energéticas que estimulam o aumento da produção e a utilização do gás natural, visto que é considerado uma fonte de energia limpa. O crescimento do mercado do gás natural implica um reforço significativo das redes de transporte deste combustível, quer ao nível do armazenamento e fornecimento, quer ao nível dos gasodutos e da sua gestão. O investimento em gasodutos de transporte implica grandes investimentos, que poderiam não ser remunerados da forma esperada, sendo um dos motivos para que exista em Portugal cinco distritos se veem privados deste tipo de infraestruturas. O transporte de gás natural acarreta custos elevados para os consumidores, tanto maiores quanto maior forem as quantidades de gás transacionadas e quanto maior for o percurso pelo gás natural percorrido. Assim assume especial importância a realização de um despacho de gás natural: quais as cargas que cada unidade de fornecimento de gás irá alimentar, qual a quantidade de gás natural que cada UFGs deve injetar na rede, qual o menor percurso possível para o fazer, o tipo de transporte que será utilizado? Estas questões são abordadas na presente dissertação, por forma a minimizar a função custo de transporte, diminuindo assim as perdas na rede de alta pressão e os custos de transporte que serão suportados pelos consumidores. A rede de testes adotada foi a rede nacional de transporte, constituída por 18 nós de consumos, e os tipos de transporte considerados, foram o transporte por gasoduto físico e o transporte através de gasoduto virtual – rotas de transporte rodoviário de gás natural liquefeito. Foram criados diversos cenários, baseados em períodos de inverno e verão, os diferentes cenários abrangeram de forma distinta as variáveis de forma a analisar os impactos que estas variáveis teriam no custo relativo ao transporte de gás natural. Para dar suporte ao modelo de despacho económico, foi desenvolvida uma aplicação computacional – Despacho_GN com o objetivo de despachar as quantidades de gás natural que cada UFG deveria injetar na rede, assim como apresentar os custos acumulados relativos ao transporte. Com o apoio desta aplicação foram testados diversos cenários, sendo apresentados os respectivos resultados. A metodologia elaborada para a criação de um despacho através da aplicação “Despacho_GN” demonstrou ser eficiente na obtenção das soluções, mostrando ser suficientemente rápida para realizar as simulações em poucos segundos. A dissertação proporciona uma contribuição para a exploração de problemas relacionados com o despacho de gás natural, e sugere perspectivas futuras de investigação e desenvolvimento.

An heuristic approach for optimal location of gas supply units in transportation system

The best places to locate the Gas Supply Units (GSUs) on a natural gas systems and their optimal allocation to loads are the key factors to organize an efficient upstream gas infrastructure. The number of GSUs and their optimal location in a gas network is a decision problem that can be formulated as a linear programming problem. Our emphasis is on the formulation and use of a suitable location model, reflecting real-world operations and constraints of a natural gas system. This paper presents a heuristic model, based on lagrangean approach, developed for finding the optimal GSUs location on a natural gas network, minimizing expenses and maximizing throughput and security of supply.The location model is applied to the Iberian high pressure natural gas network, a system modelised with 65 demand nodes. These nodes are linked by physical and virtual pipelines – road trucks with gas in liquefied form. The location model result shows the best places to locate, with the optimal demand allocation and the most economical gas transport mode: by pipeline or by road truck.

Optimization model for medium term natural gas commitment

In this paper we study the optimal natural gas commitment for a known demand scenario. This study implies the best location of GSUs to supply all demands and the optimal allocation from sources to gas loads, through an appropriate transportation mode, in order to minimize total system costs. Our emphasis is on the formulation and use of a suitable optimization model, reflecting real-world operations and the constraints of natural gas systems. The mathematical model is based on a Lagrangean heuristic, using the Lagrangean relaxation, an efficient approach to solve the problem. Computational results are presented for Iberian and American natural gas systems, geographically organized in 65 and 88 load nodes, respectively. The location model results, supported by the computational application GasView, show the optimal location and allocation solution, system total costs and suggest a suitable gas transportation mode, presented in both numerical and graphic supports.

Natural gas system operation: lagrangean optimization techniques

To comply with natural gas demand growth patterns and Europe´s import dependency, the gas industry needs to organize an efficient upstream infrastructure. The best location of Gas Supply Units – GSUs and the alternative transportation mode – by phisical or virtual pipelines, are the key of a successful industry. In this work we study the optimal location of GSUs, as well as determining the most efficient allocation from gas loads to sources, selecting the best transportation mode, observing specific technical restrictions and minimizing system total costs. For the location of GSUs on system we use the P-median problem, for assigning gas demands nodes to source facilities we use the classical transportation problem. The developed model is an optimisation-based approach, based on a Lagrangean heuristic, using Lagrangean relaxation for P-median problems – Simple Lagrangean Heuristic. The solution of this heuristic can be improved by adding a local search procedure - the Lagrangean Reallocation Heuristic. These two heuristics, Simple Lagrangean and Lagrangean Reallocation, were tested on a realistic network - the primary Iberian natural gas network, organized with 65 nodes, connected by physical and virtual pipelines. Computational results are presented for both approaches, showing the location gas sources and allocation loads arrangement, system total costs and gas transportation mode.

Transmission costs allocation based on optimal re-dispatch

Congestion management of transmission power systems has achieve high relevance in competitive environments, which require an adequate approach both in technical and economic terms. This paper proposes a new methodology for congestion management and transmission tariff determination in deregulated electricity markets. The congestion management methodology is based on a reformulated optimal power flow, whose main goal is to obtain a feasible solution for the re-dispatch minimizing the changes in the transactions resulting from market operation. The proposed transmission tariffs consider the physical impact caused by each market agents in the transmission network. The final tariff considers existing system costs and also costs due to the initial congestion situation and losses. This paper includes a case study for the 118 bus IEEE test case.

Energy resource management in smart grids considering an Intensive use of electric vehicles

The introduction of electricity markets and integration of Distributed Generation (DG) have been influencing the power system’s structure change. Recently, the smart grid concept has been introduced, to guarantee a more efficient operation of the power system using the advantages of this new paradigm. Basically, a smart grid is a structure that integrates different players, considering constant communication between them to improve power system operation and management. One of the players revealing a big importance in this context is the Virtual Power Player (VPP). In the transportation sector the Electric Vehicle (EV) is arising as an alternative to conventional vehicles propel by fossil fuels. The power system can benefit from this massive introduction of EVs, taking advantage on EVs’ ability to connect to the electric network to charge, and on the future expectation of EVs ability to discharge to the network using the Vehicle-to-Grid (V2G) capacity. This thesis proposes alternative strategies to control these two EV modes with the objective of enhancing the management of the power system. Moreover, power system must ensure the trips of EVs that will be connected to the electric network. The EV user specifies a certain amount of energy that will be necessary to charge, in order to ensure the distance to travel. The introduction of EVs in the power system turns the Energy Resource Management (ERM) under a smart grid environment, into a complex problem that can take several minutes or hours to reach the optimal solution. Adequate optimization techniques are required to accommodate this kind of complexity while solving the ERM problem in a reasonable execution time. This thesis presents a tool that solves the ERM considering the intensive use of EVs in the smart grid context. The objective is to obtain the minimum cost of ERM considering: the operation cost of DG, the cost of the energy acquired to external suppliers, the EV users payments and remuneration and penalty costs. This tool is directed to VPPs that manage specific network areas, where a high penetration level of EVs is expected to be connected in these areas. The ERM is solved using two methodologies: the adaptation of a deterministic technique proposed in a previous work, and the adaptation of the Simulated Annealing (SA) technique. With the purpose of improving the SA performance for this case, three heuristics are additionally proposed, taking advantage on the particularities and specificities of an ERM with these characteristics. A set of case studies are presented in this thesis, considering a 32 bus distribution network and up to 3000 EVs. The first case study solves the scheduling without considering EVs, to be used as a reference case for comparisons with the proposed approaches. The second case study evaluates the complexity of the ERM with the integration of EVs. The third case study evaluates the performance of scheduling with different control modes for EVs. These control modes, combined with the proposed SA approach and with the developed heuristics, aim at improving the quality of the ERM, while reducing drastically its execution time. The proposed control modes are: uncoordinated charging, smart charging and V2G capability. The fourth and final case study presents the ERM approach applied to consecutive days.

Ensaio sobre um sistema de um painel de uma divisória pré-fabricada

O setor da construção civil em Portugal sofre atualmente uma crise, como consequência da crise instalada no país. Além disso, a construção tradicional devido à sua rigidez espacial contribuiu para que os edifícios não se pudessem adaptar de uma forma simples, rápida e económica. Para contrabalançar esses factos a industrialização deverá ser encarada como uma das áreas com maior potencial de crescimento no futuro. A possibilidade de conceber um sistema que se adapta às constantes mudanças das necessidades humanas torna-se um dos grandes desafios da indústria da construção civil onde a pré-fabricação terá um papel fundamental. Neste ensaio estuda-se um sistema de divisórias leves amovíveis pré-fabricadas. No primeiro capítulo deste ensaio é elaborada uma síntese de conceitos que estão relacionados com as divisórias leves pré-fabricadas (industrialização e pré-fabricação), aborda-se a avaliação do sistema previsto ao nível da legislação e os passos a dar para verificação da viabilidade do sistema. No segundo capítulo faz-se uma distinção entre os vários tipos de pré-fabricação, definemse as exigências de desempenho e funcionais do sistema, aborda-se o conceito de coordenação modular e das tolerâncias de construção referindo a sua tremenda importância na pré-fabricação. Na parte final deste capítulo abordam-se exaustivamente as exigências de desempenho das paredes interiores não resistentes. No terceiro capítulo desenvolveu-se o sistema. Descrevem-se todos os componentes do sistema e a justificação da sua utilização. Elaboram-se três pré-avaliações: mecânica, acústica e térmica. Definem-se as ligações a serem utilizadas e pormenorizam-se todos os materiais das ligações. É apresentada uma avaliação económica de custos do sistema. Definem-se os procedimentos de: fabricação, transporte, montagem e desmontagem do sistema. No último capítulo apresentam-se as principais conclusões e os possíveis desenvolvimentos futuros.

Re-use assessment of thermoset composite wastes as aggregate and filler replacement for concrete-polymer composite materials: a case study regarding GFRP pultrusion wastes

Glass fibre-reinforced plastics (GFRP), nowadays commonly used in the construction, transportation and automobile sectors, have been considered inherently difficult to recycle due to both the cross-linked nature of thermoset resins, which cannot be remoulded, and the complex composition of the composite itself, which includes glass fibres, polymer matrix and different types of inorganic fillers. Hence, to date, most of the thermoset based GFRP waste is being incinerated or landfilled leading to negative environmental impacts and additional costs to producers and suppliers. With an increasing awareness of environmental matters and the subsequent desire to save resources, recycling would convert an expensive waste disposal into a profitable reusable material. In this study, the effect of the incorporation of mechanically recycled GFRP pultrusion wastes on flexural and compressive behaviour of polyester polymer mortars (PM) was assessed. For this purpose, different contents of GFRP recyclates (0%, 4%, 8% and 12%, w/w), with distinct size grades (coarse fibrous mixture and fine powdered mixture), were incorporated into polyester PM as sand aggregates and filler replacements. The effect of the incorporation of a silane coupling agent was also assessed. Experimental results revealed that GFRP waste filled polymer mortars show improved mechanical behaviour over unmodified polyester based mortars, thus indicating the feasibility of GFRP waste reuse as raw material in concrete-polymer composites.

Coordinated transportation of a large object by a team of three robots

Dynamical systems theory in this work is used as a theoretical language and tool to design a distributed control architecture for a team of three robots that must transport a large object and simultaneously avoid collisions with either static or dynamic obstacles. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constraints are modeled as attractors (i.e. asymptotic stable states) of the behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotical stable states. Computer simulations support the validity of the dynamical model architecture.

Coordinated transportation of a large object by a team of two robots

In this paper dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for a team of two robots that must transport a large object and simultaneously avoid collisions with obstacles (either static or dynamic). This work extends the previous work with two robots (see [1] and [5]). However here we demonstrate that it’s possible to simplify the architecture presented in [1] and [5] and reach an equally stable global behavior. The robots have no prior knowledge of the environment. The dynamics of behavior is defined over a state space of behavior variables, heading direction and path velocity. Task constrains are modeled as attractors (i.e. asymptotic stable states) of a behavioral dynamics. For each robot, these attractors are combined into a vector field that governs the behavior. By design the parameters are tuned so that the behavioral variables are always very close to the corresponding attractors. Thus the behavior of each robot is controlled by a time series of asymptotic stable states. Computer simulations support the validity of the dynamical model architecture.

Object transportation by multiple mobile robots controlled by attractor dynamics: theory and implementation

Dynamical systems theory is used as a theoretical language and tool to design a distributed control architecture for teams of mobile robots, that must transport a large object and simultaneously avoid collisions with (either static or dynamic) obstacles. Here we demonstrate in simulations and implementations in real robots that it is possible to simplify the architectures presented in previous work and to extend the approach to teams of n robots. The robots have no prior knowledge of the environment. The motion of each robot is controlled by a time series of asymptotical stable states. The attractor dynamics permits the integration of information from various sources in a graded manner. As a result, the robots show a strikingly smooth an stable team behaviour.

Competitive dynamics for behavior coordination in a joint transportation task

We address the problem of coordinating two non-holonomic mobile robots that move in formation while transporting a long payload. A competitive dynamics is introduced that gradually controls the activation and deactivation of individual behaviors. This process introduces (asymmetrical) hysteresis during behavioral switching. As a result behavioral oscillations, due to noisy information, are eliminated. Results in indoor environments show that if parameter values are chosen within reasonable ranges then, in spite of noise in the robots communi- cation and sensors, the overall robotic system works quite well even in cluttered environments. The robots overt behavior is stable and smooth.

Bertrand oligopoly when rivals' costs are unknown

We study a Bertrand oligopoly model with incomplete information about rivals' costs, where the uncertainty is given by a uniform distribution. We compute the Bayesian-Nash equilibrium of this game, the ex-ante expected profit and the ex-post profit of each firm. We see that, even though only one firm produces in equilibrium, all firms have a positive ex-ante expected profit.

Maximum-revenue tariff under Bertrand duopoly with unknown costs

This paper considers an international trade under Bertrand model with differentiated products and with unknown production costs. The home government imposes a specific import tariff per unit of imports from the foreign firm. We prove that this tariff is decreasing in the expected production costs of the foreign firm and increasing in the production costs of the home firm. Furthermore, it is increasing in the degree of product substitutability. We also show that an increase in the tariff results in both firms increasing their prices, an increase in both expected sales and expected profits for the home firm, and a decrease in both expected sales and expected profits for the foreign firm.