Autonomous collective agreements as a regulatory device in European labour law:How to read Article 139 EC

This article discusses whether European social partners can derive the competence to autonomously devise European collective labour agreements from Article 139 EC (equals Article III-212 Constitution of Europe). Placing the question in the context of discussions of EU governance and private lawmaking in general, the author starts with a comparative overview of legal conceptions for collective labour agreements in Europe, focusing on three Member States' orders where their effects are not or only partly regulated by state legislation. Based on this comparison, she analyses Article 139(2) and offers a new interpretation of its provisions concerning autonomous implementation of European social partner agreements. She concludes that European social partners do have the competence to agree on a basic agreement stating the rules for European collective bargaining autonomously.

A co-operative formation-based collision avoidance approach for a group of autonomous vehicles (Special Issue on Adaptive Control and Signal Processing in Marine System)

This paper employs a unique decentralised cooperative control method to realise a formation-based collision avoidance strategy for a group of autonomous vehicles. In this approach, the vehicles' role in the formation and their alert and danger areas are first defined, and the formation-based intra-group and external collision avoidance methods are then proposed to translate the collision avoidance problem into the formation stability problem. The extension–decomposition–aggregation formation control method is next employed to stabilise the original and modified formations, whilst manoeuvring, and subsequently solve their collision avoidance problem indirectly. Simulation study verifies the feasibility and effectiveness of the intra-group and external collision avoidance strategy. It is demonstrated that both formation control and collision avoidance problems can be simultaneously solved if the stability of the expanded formation including external obstacles can be satisfied.

Dynamic Modeling and Interaction of Hybrid Natural Gas and Electricity Supply System in Microgrid

Natural gas (NG) network and electric network are becoming tightly integrated by microturbines in the microgrid. Interactions between these two networks are not well captured by the traditional microturbine (MT) models. To address this issue, two improved models for single-shaft MT and split-shaft MT are proposed in this paper. In addition, dynamic models of the hybrid natural gas and electricity system (HGES) are developed for the analysis of their interactions. Dynamic behaviors of natural gas in pipes are described by partial differential equations (PDEs), while the electric network is described by differential algebraic equations (DAEs). So the overall network is a typical two-time scale dynamic system. Numerical studies indicate that the two-time scale algorithm is faster and can capture the interactions between the two networks. The results also show the HGES with a single-shaft MT is a weakly coupled system in which disturbances in the two networks mainly influence the dc link voltage of the MT, while the split-shaft MT is a strongly coupled system where the impact of an event will affect both networks.

Economical and coordinated dispatch of CHP based microgrid with renewable energy resources

The advantages of high energy efficiency and economic benefit promote the wide application of combined heat and power system (CHP) based microgrid. Firstly, a mathematical model of the CHP based microgrid is developed. Then, a cost function for the coordination of heat and electric load is proposed. Finally, an optimal dispatch model is developed to achieve the economical and coordinated operation of the CHP based microgrid system. Simulation results verify effectiveness of the proposed dispatch model, which is a powerful tool for the energy management of CHP based microgrid with renewable energy resources.

A Cyber-Physical Security Analysis of Synchronous-Islanded Microgrid Operation

Cyber-security research in the field of smart grids is often performed with a focus on either the power and control domain or the Information and Communications Technology (ICT) domain. The characteristics of the power equipment or ICT domain are commonly not collectively considered. This work provides an analysis of the physical effects of cyber-attacks on microgrids – a smart grid construct that allows continued power supply when disconnected from a main grid. Different types of microgrid operations are explained (connected, islanded and synchronous-islanding) and potential cyber-attacks and their physical effects are analyzed. A testbed that is based on physical power and ICT equipment is presented to validate the results in both the physical and ICT domain.

A Microgrid Testbed for Interdisciplinary Research on Cyber-Secure Industrial Control in Power Systems

This paper describes a smart grid test bed comprising embedded generation, phasor measurement units (PMUs), and supporting ICT components and infrastructure. The test bed enables the development of a use case focused on a synchronous islanding scenario, where the embedded generation becomes islanded from the mains supply. Due to the provisioned control components, control strategy, and best-practice ICT support infrastructure, the islanded portion of the grid is able to continue to operate in a secure and dependable manner.

Autonomous COLREGs Compliant Ship Navigation, Using BridgeSimulators and an Unmanned Vessel

This paper presents an approach to COLREGs compliant ship navigation. A system architecture is proposed, which will be implemented and tested on two platforms: networked bridge simulators and at sea trials using an autonomous unmanned surface vessel. Attention is paid to collision avoidance software and its risk mitigation.

Architecture for real-time coordination of multiple autonomous mobile units

Interest on using teams of mobile robots has been growing, due to their potential to cooperate for diverse purposes, such as rescue, de-mining, surveillance or even games such as robotic soccer. These applications require a real-time middleware and wireless communication protocol that can support an efficient and timely fusion of the perception data from different robots as well as the development of coordinated behaviours. Coordinating several autonomous robots towards achieving a common goal is currently a topic of high interest, which can be found in many application domains. Despite these different application domains, the technical problem of building an infrastructure to support the integration of the distributed perception and subsequent coordinated action is similar. This problem becomes tougher with stronger system dynamics, e.g., when the robots move faster or interact with fast objects, leading to tighter real-time constraints. This thesis work addressed computing architectures and wireless communication protocols to support efficient information sharing and coordination strategies taking into account the real-time nature of robot activities. The thesis makes two main claims. Firstly, we claim that despite the use of a wireless communication protocol that includes arbitration mechanisms, the self-organization of the team communications in a dynamic round that also accounts for variable team membership, effectively reduces collisions within the team, independently of its current composition, significantly improving the quality of the communications. We will validate this claim in terms of packet losses and communication latency. We show how such self-organization of the communications can be achieved in an efficient way with the Reconfigurable and Adaptive TDMA protocol. Secondly, we claim that the development of distributed perception, cooperation and coordinated action for teams of mobile robots can be simplified by using a shared memory middleware that replicates in each cooperating robot all necessary remote data, the Real-Time Database (RTDB) middleware. These remote data copies, which are updated in the background by the selforganizing communications protocol, are extended with age information automatically computed by the middleware and are locally accessible through fast primitives. We validate our claim showing a parsimonious use of the communication medium, improved timing information with respect to the shared data and the simplicity of use and effectiveness of the proposed middleware shown in several use cases, reinforced with a reasonable impact in the Middle Size League of RoboCup.

Fuzzy Ensembles for Embedding Adaptive Behaviours in Semi-Autonomous Avatars in 3D Virtual Worlds

Semi-autonomous avatars should be both realistic and believable. The goal is to learn from and reproduce the behaviours of the user-controlled input to enable semi-autonomous avatars to plausibly interact with their human-controlled counterparts. A powerful tool for embedding autonomous behaviour is learning by imitation. Hence, in this paper an ensemble of fuzzy inference systems cluster the user input data to identify natural groupings within the data to describe the users movement and actions in a more abstract way. Multiple clustering algorithms are investigated along with a neuro-fuzzy classifier; and an ensemble of fuzzy systems are evaluated.

Measuring underwater noise with high endurance surface and underwater autonomous vehicles

This paper describes the results of AcousticRobot'13 - a noise measurement campaign that took place off the Portuguese Coast in May 2013, using two high endurance autonomous vehicles capable of silent operation (an underwater glider and an autonmomous sailing vessel) equipped with hydrophones, and a moored hydrophone that served as reference. We show that the autonomous vehicles used can provide useful measurements of underwater noise, and describe the main advantages and shortcomings that became evident during the campaign.

On the applications of a compact autonomous acoustic recorder

A number of acoustic A compact acoustic recorder, primarily designed for underwater noise monitoring, is presented in this paper. The Self-Register Hydrophone has been used in several occasions during the past three years, in underwater noise monitoring activities. However, this kind of device also find application in other areas such as array processing and passive acoustic monitoring of marine mammals. An overview on the application of the Self-Register Hydrophone is given herein.