Mycosis fungoides shows concurrent deregulation of multiple genes involved in the TNF signaling pathway:an expression profile study

Mycosis fungoides (MF) is the most frequent type of cutaneous T-cell lymphoma, whose diagnosis and study is hampered by its morphologic similarity to inflammatory dermatoses (ID) and the low proportion of tumoral cells, which often account for only 5% to 10% of the total tissue cells. cDNA microarray studies using the CNIO OncoChip of 29 MF and 11 ID cases revealed a signature of 27 genes implicated in the tumorigenesis of MF, including tumor necrosis factor receptor (TNFR)-dependent apoptosis regulators, STAT4, CD40L, and other oncogenes and apoptosis inhibitors. Subsequently a 6-gene prediction model was constructed that is capable of distinguishing MF and ID cases with unprecedented accuracy. This model correctly predicted the class of 97% of cases in a blind test validation using 24 MF patients with low clinical stages. Unsupervised hierarchic clustering has revealed 2 major subclasses of MF, one of which tends to include more aggressive-type MF cases including tumoral MF forms. Furthermore, signatures associated with abnormal immunophenotype (11 genes) and tumor stage disease (5 genes) were identified.

Investigating clinical predictors of arteriovenous fistula functional patency in a European cohort

Background: Arteriovenous fistula (AVF) failure to mature (FTM) rates contribute to excessive dependence on central venous catheters for haemodialysis. Choosing the most appropriate vascular access site for an individual patient is guided largely by their age, co-morbidities and clinical examination. We investigated the clinical predictors of AVF FTM in a European cohort of patients and applied an existing clinical risk prediction model for AVF FTM to this population.
Methods: A prospective cohort study was designed that included all patients undergoing AVF creation between January 2009 and December 2014 in a single centre (Belfast City Hospital) who had a functional AVF outcome observed by March 2015.
Results: A total of 525 patients had a functional AVF outcome recorded and were included in the FTM analysis. In this cohort, 309 (59%) patients achieved functional AVF patency and 216 (41%) patients had FTM. Female gender [P < 0.001, odds ratio (OR) 2.03 (CI 1.37–3.02)] and lower-arm AVF [P < 0.001, OR 4.07 (CI 2.77–5.92)] were associated with AVF FTM. The Lok model did not predict FTM outcomes based on the associated risk stratification in our population.
Conclusions: In this European study, female gender was associated with twice the risk of AVF FTM and a lower-arm AVF with four times the risk of FTM. The FTM risk prediction model was not found to be discriminative in this population. Clinical risk factors for AVF FTM vary between populations;we would recommend that units investigate their own clinical predictors of FTM to maximize AVF functional patency and ultimately survival in dialysis patients. Clinical predictors of AVF FTM may not be sufficient on their own to improve vascular access functional patency rates.

Risk indicators associated with root decay in independently living older adults

Objective: To determine the risk indicators associated with root caries experience in a cohort of independently living older adults in Ireland.
Methods: The data reported in the present study were obtained from a prospective longitudinal study conducted on the risk factors associated with root caries incidence in a cohort of independently living older adults (n=334). Each subject underwent an oral examination, performed by a single calibrated examiner, to determine the root caries index and other clinical variables. Questionnaires were used to collect data on oral hygiene habits, diet, smoking and alcohol habits and education level. A regression analysis with the outcome variable of root caries experience (no/yes) was conducted.
Results: A total of 334 older adults with a mean age of 69.1 years were examined. 53.3% had at least one filled or decayed root surface. The median root caries index was 3.13 (IQR 0.00, 13.92). The results from the multivariate regression analysis indicated that individuals with poor plaque control (OR 9.59, 95%CI 3.84-24.00), xerostomia (OR 18.49, 95%CI 2.00-172.80), two or more teeth with coronal decay (OR 4.50, 95% CI 2.02-10.02) and 37 or more exposed root surfaces (OR 5.48, 95% CI 2.49-12.01) were more likely to have been affected by root caries.
Conclusions: The prevalence of root caries was high in this cohort. This study suggests a correlation between root caries and the variables poor plaque control, xerostomia, coronal decay (≥2 teeth affected) and exposed root surfaces (≥37). The significance of these risk indicators and the resulting prediction model should be further evaluated in a prospective study of root caries incidence.
Clinical Significance: Identification of risk indicators for root caries in independently living older adults would facilitate dental practitioners to identify those who would benefit most from interventions aimed at prevention.

Effect of vehicle characteristics on safety, fuel use and emissions

Nos últimos anos, o número de vítimas de acidentes de tráfego por milhões de habitantes em Portugal tem sido mais elevado do que a média da União Europeia. Ao nível nacional torna-se premente uma melhor compreensão dos dados de acidentes e sobre o efeito do veículo na gravidade do mesmo. O objetivo principal desta investigação consistiu no desenvolvimento de modelos de previsão da gravidade do acidente, para o caso de um único veículo envolvido e para caso de uma colisão, envolvendo dois veículos. Além disso, esta investigação compreendeu o desenvolvimento de uma análise integrada para avaliar o desempenho do veículo em termos de segurança, eficiência energética e emissões de poluentes. Os dados de acidentes foram recolhidos junto da Guarda Nacional Republicana Portuguesa, na área metropolitana do Porto para o período de 2006-2010. Um total de 1,374 acidentes foram recolhidos, 500 acidentes envolvendo um único veículo e 874 colisões. Para a análise da segurança, foram utilizados modelos de regressão logística. Para os acidentes envolvendo um único veículo, o efeito das características do veículo no risco de feridos graves e/ou mortos (variável resposta definida como binária) foi explorado. Para as colisões envolvendo dois veículos foram criadas duas variáveis binárias adicionais: uma para prever a probabilidade de feridos graves e/ou mortos num dos veículos (designado como veículo V1) e outra para prever a probabilidade de feridos graves e/ou mortos no outro veículo envolvido (designado como veículo V2). Para ultrapassar o desafio e limitações relativas ao tamanho da amostra e desigualdade entre os casos analisados (apenas 5.1% de acidentes graves), foi desenvolvida uma metodologia com base numa estratégia de reamostragem e foram utilizadas 10 amostras geradas de forma aleatória e estratificada para a validação dos modelos. Durante a fase de modelação, foi analisado o efeito das características do veículo, como o peso, a cilindrada, a distância entre eixos e a idade do veículo. Para a análise do consumo de combustível e das emissões, foi aplicada a metodologia CORINAIR. Posteriormente, os dados das emissões foram modelados de forma a serem ajustados a regressões lineares. Finalmente, foi desenvolvido um indicador de análise integrada (denominado “SEG”) que proporciona um método de classificação para avaliar o desempenho do veículo ao nível da segurança rodoviária, consumos e emissões de poluentes.Face aos resultados obtidos, para os acidentes envolvendo um único veículo, o modelo de previsão do risco de gravidade identificou a idade e a cilindrada do veículo como estatisticamente significativas para a previsão de ocorrência de feridos graves e/ou mortos, ao nível de significância de 5%. A exatidão do modelo foi de 58.0% (desvio padrão (D.P.) 3.1). Para as colisões envolvendo dois veículos, ao prever a probabilidade de feridos graves e/ou mortos no veículo V1, a cilindrada do veículo oposto (veículo V2) aumentou o risco para os ocupantes do veículo V1, ao nível de significância de 10%. O modelo para prever o risco de gravidade no veículo V1 revelou um bom desempenho, com uma exatidão de 61.2% (D.P. 2.4). Ao prever a probabilidade de feridos graves e/ou mortos no veículo V2, a cilindrada do veículo V1 aumentou o risco para os ocupantes do veículo V2, ao nível de significância de 5%. O modelo para prever o risco de gravidade no veículo V2 também revelou um desempenho satisfatório, com uma exatidão de 40.5% (D.P. 2.1). Os resultados do indicador integrado SEG revelaram que os veículos mais recentes apresentam uma melhor classificação para os três domínios: segurança, consumo e emissões. Esta investigação demonstra que não existe conflito entre a componente da segurança, a eficiência energética e emissões relativamente ao desempenho dos veículos.

Wind energy resource modelling in Portugal and its future large-scale alteration due to anthropogenic induced climate changes

The high dependence of Portugal from foreign energy sources (mainly fossil fuels), together with the international commitments assumed by Portugal and the national strategy in terms of energy policy, as well as resources sustainability and climate change issues, inevitably force Portugal to invest in its energetic self-sufficiency. The 20/20/20 Strategy defined by the European Union defines that in 2020 60% of the total electricity consumption must come from renewable energy sources. Wind energy is currently a major source of electricity generation in Portugal, producing about 23% of the national total electricity consumption in 2013. The National Energy Strategy 2020 (ENE2020), which aims to ensure the national compliance of the European Strategy 20/20/20, states that about half of this 60% target will be provided by wind energy. This work aims to implement and optimise a numerical weather prediction model in the simulation and modelling of the wind energy resource in Portugal, both in offshore and onshore areas. The numerical model optimisation consisted in the determination of which initial and boundary conditions and planetary boundary layer physical parameterizations options provide wind power flux (or energy density), wind speed and direction simulations closest to in situ measured wind data. Specifically for offshore areas, it is also intended to evaluate if the numerical model, once optimised, is able to produce power flux, wind speed and direction simulations more consistent with in situ measured data than wind measurements collected by satellites. This work also aims to study and analyse possible impacts that anthropogenic climate changes may have on the future wind energetic resource in Europe. The results show that the ECMWF reanalysis ERA-Interim are those that, among all the forcing databases currently available to drive numerical weather prediction models, allow wind power flux, wind speed and direction simulations more consistent with in situ wind measurements. It was also found that the Pleim-Xiu and ACM2 planetary boundary layer parameterizations are the ones that showed the best performance in terms of wind power flux, wind speed and direction simulations. This model optimisation allowed a significant reduction of the wind power flux, wind speed and direction simulations errors and, specifically for offshore areas, wind power flux, wind speed and direction simulations more consistent with in situ wind measurements than data obtained from satellites, which is a very valuable and interesting achievement. This work also revealed that future anthropogenic climate changes can negatively impact future European wind energy resource, due to tendencies towards a reduction in future wind speeds especially by the end of the current century and under stronger radiative forcing conditions.

Landslide susceptibility evaluation and validation at a regional scale

Tese de doutoramento, Geografia (Geografia Física), Universidade de Lisboa, Instituto de Geografia e Ordenamento do Território, 2014

Estimação de cobertura rádio em comunicações ferroviárias

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia de Electrónica e Telecomunicações

Reformulação de um Sistema de Gestão de Consumos de Energia

Atualmente a energia é considerada um vetor estratégico nas diversas organizações. Assim sendo, a gestão e a utilização racional da energia são consideradas instrumentos fundamentais para a redução dos consumos associados aos processos de produção do sector industrial. As ações de gestão energética não deverão ficar pela fase do projeto das instalações e dos meios de produção, mas sim acompanhar a atividade da Empresa. A gestão da energia deve ser sustentada com base na realização regular de diagnósticos energéticos às instalações consumidoras e concretizada através de planos de atuação e de investimento que apresentem como principal objetivo a promoção da eficiência energética, conduzindo assim à redução dos respetivos consumos e, consequentemente, à redução da fatura energética. Neste contexto, a utilização de ferramentas de apoio à gestão de energia promovem um consumo energético mais racional, ou seja, promovem a eficiência energética e é neste sentido que se insere este trabalho. O presente trabalho foi desenvolvido na Empresa RAR Açúcar e apresentou como principais objetivos: a reformulação do Sistema de Gestão de Consumos de Energia da Empresa, a criação de um modelo quantitativo que permitisse ao Gestor de Energia prever os consumos anuais de água, fuelóleo e eletricidade da Refinaria e a elaboração de um plano de consumos para o ano de 2014 a partir do modelo criado. A reformulação do respetivo Sistema de Gestão de Consumos resultou de um conjunto de etapas. Numa primeira fase foi necessário efetuar uma caraterização e uma análise do atual Sistema de Gestão de Consumos da Empresa, sistema composto por um conjunto de sete ficheiros de cálculo do programa Microsoft Excel©. Terminada a análise, selecionada a informação pertinente e propostas todas as melhorias a introduzir nos ficheiros, procedeu-se à reformulação do respetivo SGE, reduzindo-se o conjunto de ficheiros de cálculo para apenas dois ficheiros, um onde serão efetuados e visualizados todos os registos e outro onde serão realizados os cálculos necessários para o controlo energético da Empresa. O novo Sistema de Gestão de Consumos de Energia será implementado no início do ano de 2015. Relativamente às alterações propostas para as folhas de registos manuais, estas já foram implementadas pela Empresa. Esta aplicação prática mostrou-se bastante eficiente uma vez que permitiu grandes melhorias processuais nomeadamente, menores tempos de preenchimento das mesmas e um encurtamento das rotas efetuadas diariamente pelos operadores. Através do levantamento efetuado aos diversos contadores foi possível identificar todas as áreas onde será necessário a sua instalação e a substituição de todos os contadores avariados, permitindo deste modo uma contabilização mais precisa de todos os consumos da Empresa. Com esta reestruturação o Sistema de Gestão de Consumos tornou-se mais dinâmico, mais claro e, principalmente, mais eficiente. Para a criação do modelo de previsão de consumos da Empresa foi necessário efetuar-se um levantamento dos consumos históricos de água, eletricidade, fuelóleo e produção de açúcar de dois anos. Após este levantamento determinaram-se os consumos específicos de água, fuelóleo e eletricidade diários (para cada semana dos dois anos) e procedeu-se à caracterização destes consumos por tipo de dia. Efetuada a caracterização definiu-se para cada tipo de dia um consumo específico médio com base nos dois anos. O modelo de previsão de consumos foi criado com base nos consumos específicos médios dos dois anos correspondentes a cada tipo de dia. Procedeu-se por fim à verificação do modelo, comparando-se os consumos obtidos através do modelo (consumos previstos) com os consumos reais de cada ano. Para o ano de 2012 o modelo apresenta um desvio de 6% na previsão da água, 12% na previsão da eletricidade e de 6% na previsão do fuelóleo. Em relação ao ano de 2013, o modelo apresenta um erro de 1% para a previsão dos consumos de água, 8% para o fuelóleo e de 1% para a eletricidade. Este modelo permitirá efetuar contratos de aquisição de energia elétrica com maior rigor o que conduzirá a vantagens na sua negociação e consequentemente numa redução dos custos resultantes da aquisição da mesma. Permitirá também uma adequação dos fluxos de tesouraria à necessidade reais da Empresa, resultante de um modelo de previsão mais rigoroso e que se traduz numa mais-valia financeira para a mesma. Foi também proposto a elaboração de um plano de consumos para o ano de 2014 a partir do modelo criado em função da produção prevista para esse mesmo ano. O modelo apresenta um desvio de 24% na previsão da água, 0% na previsão da eletricidade e de 28% na previsão do fuelóleo.

Analysis and visualization of energy use for university campus

The reduction of greenhouse gas emissions is one of the big global challenges for the next decades due to its severe impact on the atmosphere that leads to a change in the climate and other environmental factors. One of the main sources of greenhouse gas is energy consumption, therefore a number of initiatives and calls for awareness and sustainability in energy use are issued among different types of institutional and organizations. The European Council adopted in 2007 energy and climate change objectives for 20% improvement until 2020. All European countries are required to use energy with more efficiency. Several steps could be conducted for energy reduction: understanding the buildings behavior through time, revealing the factors that influence the consumption, applying the right measurement for reduction and sustainability, visualizing the hidden connection between our daily habits impacts on the natural world and promoting to more sustainable life. Researchers have suggested that feedback visualization can effectively encourage conservation with energy reduction rate of 18%. Furthermore, researchers have contributed to the identification process of a set of factors which are very likely to influence consumption. Such as occupancy level, occupants behavior, environmental conditions, building thermal envelope, climate zones, etc. Nowadays, the amount of energy consumption at the university campuses are huge and it needs great effort to meet the reduction requested by European Council as well as the cost reduction. Thus, the present study was performed on the university buildings as a use case to: a. Investigate the most dynamic influence factors on energy consumption in campus; b. Implement prediction model for electricity consumption using different techniques, such as the traditional regression way and the alternative machine learning techniques; and c. Assist energy management by providing a real time energy feedback and visualization in campus for more awareness and better decision making. This methodology is implemented to the use case of University Jaume I (UJI), located in Castellon, Spain.

Associations Between Personal Cancer History and Lung Cancer Risk

The study aim was to investigate the relationship between factors related to personal cancer history and lung cancer risk as well as assess their predictive utility. Characteristics of interest included the number, anatomical site(s), and age of onset of previous cancer(s). Data from the Prostate, Lung, Colorectal and Ovarian Screening (PLCO) Cancer Screening Trial (N = 154,901) and National Lung Screening Trial (N = 53,452) were analysed. Logistic regression models were used to assess the relationships between each variable of interest and 6-year lung cancer risk. Predictive utility was assessed through changes in area-under-the-curve (AUC) after substitution into the PLCOall2014 lung cancer risk prediction model. Previous lung, uterine and oral cancers were strongly and significantly associated with elevated 6-year lung cancer risk after controlling for confounders. None of these refined measures of personal cancer history offered more predictive utility than the simple (yes/no) measure already included in the PLCOall2014 model.

Gestion des ressources dans les réseaux cellulaires sans fil

L’émergence de nouvelles applications et de nouveaux services (tels que les applications multimédias, la voix-sur-IP, la télévision-sur-IP, la vidéo-sur-demande, etc.) et le besoin croissant de mobilité des utilisateurs entrainent une demande de bande passante de plus en plus croissante et une difficulté dans sa gestion dans les réseaux cellulaires sans fil (WCNs), causant une dégradation de la qualité de service. Ainsi, dans cette thèse, nous nous intéressons à la gestion des ressources, plus précisément à la bande passante, dans les WCNs. Dans une première partie de la thèse, nous nous concentrons sur la prédiction de la mobilité des utilisateurs des WCNs. Dans ce contexte, nous proposons un modèle de prédiction de la mobilité, relativement précis qui permet de prédire la destination finale ou intermédiaire et, par la suite, les chemins des utilisateurs mobiles vers leur destination prédite. Ce modèle se base sur : (a) les habitudes de l’utilisateur en terme de déplacements (filtrées selon le type de jour et le moment de la journée) ; (b) le déplacement courant de l’utilisateur ; (c) la connaissance de l’utilisateur ; (d) la direction vers une destination estimée ; et (e) la structure spatiale de la zone de déplacement. Les résultats de simulation montrent que ce modèle donne une précision largement meilleure aux approches existantes. Dans la deuxième partie de cette thèse, nous nous intéressons au contrôle d’admission et à la gestion de la bande passante dans les WCNs. En effet, nous proposons une approche de gestion de la bande passante comprenant : (1) une approche d’estimation du temps de transfert intercellulaire prenant en compte la densité de la zone de déplacement en terme d’utilisateurs, les caractéristiques de mobilité des utilisateurs et les feux tricolores ; (2) une approche d’estimation de la bande passante disponible à l’avance dans les cellules prenant en compte les exigences en bande passante et la durée de vie des sessions en cours ; et (3) une approche de réservation passive de bande passante dans les cellules qui seront visitées pour les sessions en cours et de contrôle d’admission des demandes de nouvelles sessions prenant en compte la mobilité des utilisateurs et le comportement des cellules. Les résultats de simulation indiquent que cette approche réduit largement les ruptures abruptes de sessions en cours, offre un taux de refus de nouvelles demandes de connexion acceptable et un taux élevé d’utilisation de la bande passante. Dans la troisième partie de la thèse, nous nous penchons sur la principale limite de la première et deuxième parties de la thèse, à savoir l’évolutivité (selon le nombre d’utilisateurs) et proposons une plateforme qui intègre des modèles de prédiction de mobilité avec des modèles de prédiction de la bande passante disponible. En effet, dans les deux parties précédentes de la thèse, les prédictions de la mobilité sont effectuées pour chaque utilisateur. Ainsi, pour rendre notre proposition de plateforme évolutive, nous proposons des modèles de prédiction de mobilité par groupe d’utilisateurs en nous basant sur : (a) les profils des utilisateurs (c’est-à-dire leur préférence en termes de caractéristiques de route) ; (b) l’état du trafic routier et le comportement des utilisateurs ; et (c) la structure spatiale de la zone de déplacement. Les résultats de simulation montrent que la plateforme proposée améliore la performance du réseau comparée aux plateformes existantes qui proposent des modèles de prédiction de la mobilité par groupe d’utilisateurs pour la réservation de bande passante.

Prédiction de la violation d’un seuil de 400 000 cellules/mL au réservoir de lait à l’aide du portrait et de la dynamique de santé du pis des troupeaux laitiers québécois

Avec la mise en place de la nouvelle limite maximale de 400 000 cellules somatiques par millilitres de lait (c/mL) au réservoir, le mois d’août 2012 a marqué une étape importante en termes de qualité du lait pour les producteurs de bovins laitiers du Canada. L’objectif de cette étude consistait en l’établissement d’un modèle de prédiction de la violation de cette limite au réservoir à l’aide des données individuelles et mensuelles de comptages en cellules somatiques (CCS) obtenues au contrôle laitier des mois précédents. Une banque de donnée DSA comprenant 924 troupeaux de laitiers québécois, en 2008, a été utilisée pour construire un modèle de régression logistique, adapté pour les mesures répétées, de la probabilité d’excéder 400 000 c/mL au réservoir. Le modèle final comprend 6 variables : le pointage linéaire moyen au test précédent, la proportion de CCS > 500 000 c/mL au test précédent, la production annuelle moyenne de lait par vache par jour, le nombre de jours en lait moyen (JEL) au test précédent ainsi que les proportions de vaches saines et de vaches infectées de manière chronique au test précédant. Le modèle montre une excellente discrimination entre les troupeaux qui excèdent ou n’excèdent pas la limite lors d’un test et pourrait être aisément utilisé comme outil supplémentaire de gestion de la santé mammaire à la ferme.

Response of Eastern Arabian Sea to Extreme climatic Events with Special Reference to Selected Pelagic Fishes

The thesis attempts to study the changes in oceanographic parameters associated with extreme climatic events,the influence of oceanographic as well as meteorological parameters on fishes.The characteristics of major pelagic fishes of southwest coast of India(Oil sardine and Indian mackerel) have been described here.A description on study area and period of study is also described .The impact of extreme climatic events on the oceanographic variability of Eastern Arabian Sea.The extreme climatic event,the Indian Ocean Dipole associated with EI Nino Southern Oscillation is taken into consideration.The variability in oil sardine and mackerel landings of southwest coast of India during the study period.The trend analysis of the landings has been done and also a prediction model is applied for the landings.The influence of environmental parameters on oil sardine as well as mackerel fishery has been explained .With regression analysis ,the significant relation between environmental parameters and fish landings are also been recognized.The prediction of landings is done with these environmental parameters.

Entwicklung eines Windleistungprognosemodells zur Verbesserung der Kraftwerkseinsatzplanung

Die Maßnahmen zur Förderung der Windenergie in Deutschland haben wichtige Anstöße zur technologischen Weiterentwicklung geliefert und die Grundlagen für den enormen Anlagenzubau geschaffen. Die installierte Windleistung hat heute eine beachtliche Größenordnung erreicht und ein weiteres Wachstum in ähnlichen Dimensionen ist auch für die nächsten Jahre zu erwarten. Die aus Wind erzeugte elektrische Leistung deckt bereits heute in einigen Netzbereichen die Netzlast zu Schwachlastzeiten. Dies zeigt, dass die Windenergie ein nicht mehr zu vernachlässigender Faktor in der elektrischen Energieversorgung geworden ist. Im Rahmen der Kraftwerkseinsatzplanung sind Betrag und Verlauf der Windleistung des folgenden Tages mittlerweile zu wichtigen und zugleich schwierig zu bestimmenden Variablen geworden. Starke Schwankungen und falsche Prognosen der Windstromeinspeisung verursachen zusätzlichen Bedarf an Regel- und Ausgleichsleistung durch die Systemführung. Das im Rahmen dieser Arbeit entwickelte Prognosemodell liefert die zu erwartenden Windleistungen an 16 repräsentativen Windparks bzw. Gruppen von Windparks für bis zu 48 Stunden im Voraus. Aufgrund von prognostizierten Wetterdaten des deutschen Wetterdienstes (DWD) werden die Leistungen der einzelnen Windparks mit Hilfe von künstlichen neuronalen Netzen (KNN) berechnet. Diese Methode hat gegenüber physikalischen Verfahren den Vorteil, dass der komplexe Zusammenhang zwischen Wettergeschehen und Windparkleistung nicht aufwendig analysiert und detailliert mathematisch beschrieben werden muss, sondern anhand von Daten aus der Vergangenheit von den KNN gelernt wird. Das Prognosemodell besteht aus zwei Modulen. Mit dem ersten wird, basierend auf den meteorologischen Vorhersagen des DWD, eine Prognose für den Folgetag erstellt. Das zweite Modul bezieht die online gemessenen Leistungsdaten der repräsentativen Windparks mit ein, um die ursprüngliche Folgetagsprognose zu verbessern und eine sehr genaue Kurzzeitprognose für die nächsten drei bis sechs Stunden zu berechnen. Mit den Ergebnissen der Prognosemodule für die repräsentativen Standorte wird dann über ein Transformationsmodell, dem so genannten Online-Modell, die Gesamteinspeisung in einem größeren Gebiet berechnet. Das Prognoseverfahren hat seine besonderen Vorzüge in der Genauigkeit, den geringen Rechenzeiten und den niedrigen Betriebskosten, da durch die Verwendung des bereits implementierten Online-Modells nur eine geringe Anzahl von Vorhersage- und Messstandorten benötigt wird. Das hier vorgestellte Prognosemodell wurde ursprünglich für die E.ON-Netz GmbH entwickelt und optimiert und ist dort seit Juli 2001 im Einsatz. Es lässt sich jedoch auch leicht an andere Gebiete anpassen. Benötigt werden dazu nur die Messdaten der Leistung ausgewählter repräsentativer Windparks sowie die dazu gehörenden Wettervorhersagen, um die KNN entsprechend zu trainieren.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.