On-line learning of a fuzzy controller for a precise vehicle cruise control system

Usually, vehicle applications require the use of artificial intelligent techniques to implement control methods, due to noise provided by sensors or the impossibility of full knowledge about dynamics of the vehicle (engine state, wheel pressure or occupiers weight). This work presents a method to on-line evolve a fuzzy controller for commanding vehicles? pedals at low speeds; in this scenario, the slightest alteration in the vehicle or road conditions can vary controller?s behavior in a non predictable way. The proposal adapts singletons positions in real time, and trapezoids used to codify the input variables are modified according with historical data. Experimentation in both simulated and real vehicles are provided to show how fast and precise the method is, even compared with a human driver or using different vehicles.

Simulación de mercado diario y previsión a 20 años del sector eléctrico peninsular

En este proyecto se crea un modelo de casación de ofertas de venta y de adquisición de energía eléctrica. Este modelo sirve para simular, de manera simplificada, el proceso de casación que tiene lugar en el mercado Diario peninsular (España y Portugal). Con el fin de averiguar el comportamiento del sector eléctrico, en este aspecto, en el futuro, se extrapolan las ofertas de adquisición según una evolución prevista de demanda y se utiliza el modelo creado para prever el mix energético y los precios de la electricidad. Esta previsión se hace en base a tres escenarios. Uno en el que hay un importante autoabastecimiento de energía eléctrica en los puntos de consumo residenciales; otro en el que el vehículo eléctrico entra de manera significativa en el parque automovilístico peninsular; y el tercero en el que las energías renovables asumen el principal peso de la cobertura de energía eléctrica. Abstract In this project a model for matching sale and purchase bids of electricity power is created. The model simulates, simplified, the process of setting energy and prices in the Daily Market of the Iberian Peninsula (Spain and Portugal). In order to determine the electricity sector behavior in the future, purchase bids are extrapolated following a prevision of demand and the model is used to predict the generation technologies mix and electricity prices. This forecast is based on three possible scenarios. The first one assumes significant self-supply of electricity in residential areas; the second one considers that the electric vehicle relevantly enters the peninsular fleet; the third one supposes that renewable energies cover the majority of electric energy.

Qualitative operational value at risk for an electric utility based on the guidelines of the basel committee

This paper presents a model for determining value at operational risk ?OpVaR? in electric utilities, with the aim to confirm the versatility of the Bank for International Settlements (BIS) proposals. The model intends to open a new methodological approach in risk management, paying special attention to underlying operational sources of risk.

Optimización del consumo de combustible de un vehículo dependiendo de las condiciones de la carretera

El consumo de combustible en un automóvil es una característica que se intenta mejorar continuamente debido a los precios del carburante y a la creciente conciencia medioambiental. Esta tesis doctoral plantea un algoritmo de optimización del consumo que tiene en cuenta las especificaciones técnicas del vehículo, el perfil de orografía de la carretera y el tráfico presente en ella. El algoritmo de optimización calcula el perfil de velocidad óptima que debe seguir el vehículo para completar un recorrido empleando un tiempo de viaje especificado. El cálculo del perfil de velocidad óptima considera los valores de pendiente de la carretera así como también las condiciones de tráfico vehicular de la franja horaria en que se realiza el recorrido. El algoritmo de optimización reacciona ante condiciones de tráfico cambiantes y adapta continuamente el perfil óptimo de velocidad para que el vehículo llegue al destino cumpliendo el horario de llegada establecido. La optimización de consumo es aplicada en vehículos convencionales de motor de combustión interna y en vehículos híbridos tipo serie. Los datos de consumo utilizados por el algoritmo de optimización se obtienen mediante la simulación de modelos cuasi-estáticos de los vehículos. La técnica de minimización empleada por el algoritmo es la Programación Dinámica. El algoritmo divide la optimización del consumo en dos partes claramente diferenciadas y aplica la Programación Dinámica sobre cada una de ellas. La primera parte corresponde a la optimización del consumo del vehículo en función de las condiciones de tráfico. Esta optimización calcula un perfil de velocidad promedio que evita, cuando es posible, las retenciones de tráfico. El tiempo de viaje perdido durante una retención de tráfico debe recuperarse a través de un aumento posterior de la velocidad promedio que incrementaría el consumo del vehículo. La segunda parte de la optimización es la encargada del cálculo de la velocidad óptima en función de la orografía y del tiempo de viaje disponible. Dado que el consumo de combustible del vehículo se incrementa cuando disminuye el tiempo disponible para finalizar un recorrido, esta optimización utiliza factores de ponderación para modular la influencia que tiene cada una de estas dos variables en el proceso de minimización. Aunque los factores de ponderación y la orografía de la carretera condicionan el nivel de ahorro de la optimización, los perfiles de velocidad óptima calculados logran ahorros de consumo respecto de un perfil de velocidad constante que obtiene el mismo tiempo de recorrido. Las simulaciones indican que el ahorro de combustible del vehículo convencional puede lograr hasta un 8.9% mientras que el ahorro de energía eléctrica del vehículo híbrido serie un 2.8%. El algoritmo fusiona la optimización en función de las condiciones del tráfico y la optimización en función de la orografía durante el cálculo en tiempo real del perfil óptimo de velocidad. La optimización conjunta se logra cuando el perfil de velocidad promedio resultante de la optimización en función de las condiciones de tráfico define los valores de los factores de ponderación de la optimización en función de la orografía. Aunque el nivel de ahorro de la optimización conjunta depende de las condiciones de tráfico, de la orografía, del tiempo de recorrido y de las características propias del vehículo, las simulaciones indican ahorros de consumo superiores al 6% en ambas clases de vehículo respecto a optimizaciones que no logran evitar retenciones de tráfico en la carretera. ABSTRACT Fuel consumption of cars is a feature that is continuously being improved due to the fuel price and an increasing environmental awareness. This doctoral dissertation describes an optimization algorithm to decrease the fuel consumption taking into account the technical specifications of the vehicle, the terrain profile of the road and the traffic conditions of the trip. The algorithm calculates the optimal speed profile that completes a trip having a specified travel time. This calculation considers the road slope and the expected traffic conditions during the trip. The optimization algorithm is also able to react to changing traffic conditions and tunes the optimal speed profile to reach the destination within the specified arrival time. The optimization is applied on a conventional vehicle and also on a Series Hybrid Electric vehicle (SHEV). The fuel consumption optimization algorithm uses data obtained from quasi-static simulations. The algorithm is based on Dynamic Programming and divides the fuel consumption optimization problem into two parts. The first part of the optimization process reduces the fuel consumption according to foreseeable traffic conditions. It calculates an average speed profile that tries to avoid, if possible, the traffic jams on the road. Traffic jams that delay drivers result in higher vehicle speed to make up for lost time. A higher speed of the vehicle within an already defined time scheme increases fuel consumption. The second part of the optimization process is in charge of calculating the optimal speed profile according to the road slope and the remaining travel time. The optimization tunes the fuel consumption and travel time relevancies by using two penalty factors. Although the optimization results depend on the road slope and the travel time, the optimal speed profile produces improvements of 8.9% on the fuel consumption of the conventional car and of 2.8% on the spent energy of the hybrid vehicle when compared with a constant speed profile. The two parts of the optimization process are combined during the Real-Time execution of the algorithm. The average speed profile calculated by the optimization according to the traffic conditions provides values for the two penalty factors utilized by the second part of the optimization process. Although the savings depend on the road slope, traffic conditions, vehicle features, and the remaining travel time, simulations show that this joint optimization process can improve the energy consumption of the two vehicles types by more than 6%.

Integrated architecture for vision-based indoor localization and mapping of a quadrotor micro-air vehicle

Atualmente os sistemas de pilotagem autónoma de quadricópteros estão a ser desenvolvidos de forma a efetuarem navegação em espaços exteriores, onde o sinal de GPS pode ser utilizado para definir waypoints de navegação, modos de position e altitude hold, returning home, entre outros. Contudo, o problema de navegação autónoma em espaços fechados sem que se utilize um sistema de posicionamento global dentro de uma sala, subsiste como um problema desafiante e sem solução fechada. Grande parte das soluções são baseadas em sensores dispendiosos, como o LIDAR ou como sistemas de posicionamento externos (p.ex. Vicon, Optitrack). Algumas destas soluções reservam a capacidade de processamento de dados dos sensores e dos algoritmos mais exigentes para sistemas de computação exteriores ao veículo, o que também retira a componente de autonomia total que se pretende num veículo com estas características. O objetivo desta tese pretende, assim, a preparação de um sistema aéreo não-tripulado de pequeno porte, nomeadamente um quadricóptero, que integre diferentes módulos que lhe permitam simultânea localização e mapeamento em espaços interiores onde o sinal GPS ´e negado, utilizando, para tal, uma câmara RGB-D, em conjunto com outros sensores internos e externos do quadricóptero, integrados num sistema que processa o posicionamento baseado em visão e com o qual se pretende que efectue, num futuro próximo, planeamento de movimento para navegação. O resultado deste trabalho foi uma arquitetura integrada para análise de módulos de localização, mapeamento e navegação, baseada em hardware aberto e barato e frameworks state-of-the-art disponíveis em código aberto. Foi também possível testar parcialmente alguns módulos de localização, sob certas condições de ensaio e certos parâmetros dos algoritmos. A capacidade de mapeamento da framework também foi testada e aprovada. A framework obtida encontra-se pronta para navegação, necessitando apenas de alguns ajustes e testes.

Final report to Governor Pat Quinn and the Illinois General Assembly /

"December 30, 2011."

Effects of vehicle and region of application on absorption of hydrocortisone through canine skin

Objective-To determine the effects of various vehicles on the penetration and retention of hydrocortisone applied to canine skin. Sample Population-20 canine skin samples obtained from the thorax, neck, and groin regions of 5 Greyhounds. Procedure-Skin was harvested from dogs after euthanasia and stored at -20 degrees C until required. The skin was then defrosted and placed into diffusion cells, which were maintained at approximately 32 degrees C by a water bath. Saturated solutions of hydrocortisone that contained trace amounts of radiolabelled [C-14]-hydrocortisone in each vehicle (ie, PBS solution [PBSS] alone, 50% ethanol [EtOH] in PBSS [wt/wt], and 50% propylene glycol in PBSS [wt/wt]) were applied to the outer (stratum corneum) surface of each skin sample, and aliquots of receptor fluid were collected for 24 hours and analyzed for hydrocortisone. Results-The maximum flux of hydrocortisone was significantly higher for all sites when dissolved in a vehicle containing 50% EtOH, compared with PBSS alone or 50% propylene glycol, with differences more prominent in skin from the neck region. In contrast, higher residues of hydrocortisone were found remaining within the skin when PBSS alone was used as a vehicle, particularly in skin from the thorax and neck. Conclusions and Clinical Relevance-Penetration of topically applied hydrocortisone is enhanced when EtOH is used in vehicle formulation. Significant regional differences (ie, among the thorax, neck, and groin areas) are also found in the transdermal penetration and skin retention of hydrocortisone. Variability in clinical response to hydrocortisone can be expected in relation to formulation design and site of application.

Regional differences in the in vitro penetration of hydrocortisone through equine skin

Little is known about the transdermal penetration of hydrocortisone in the horse and, although commercial formulations containing hydrocortisone are registered for topical use in the horse, there have been no studies investigating the movement of this glucocorticoid through different regions of equine skin. Skin was harvested from the thorax, groin and leg (dorsal metacarpal) regions of five Thoroughbred geldings and frozen (-20 degrees C) until required. Defrosted skin was placed in Franz-type diffusion cells and the amount of radiolabelled (H-3) hydrocortisone, in a saturated solution of unlabelled hydrocortisone in 50% ethanol (w/w), which penetrated through and remained within skin samples was measured over 24 h. Significantly higher (P < 0.001) maximum flux (J(max); mol/cm(2)/h) was measured when hydrocortisone was applied to skin from the leg, compared to thorax and groin, although significantly less hydrocortisone (P < 0.001) was retained within skin from the leg at 24 h. Topical application of hydrocortisone in a vehicle containing ethanol would penetrate faster through leg skin from the lower leg when compared with the thorax or groin, which depending on cutaneous blood flow, may result in higher systemic drug concentrations or greater efficiency in treating local inflamed tissue.

(Figure 2) Mean discharge per day (total and baseflow part) of the San Francisco River and daily precipitation at station ECPL (Planta), in 2007

We investigated controls on the water chemistry of a South Ecuadorian cloud forest catchment which is partly pristine, and partly converted to extensive pasture. From April 2007 to May 2008 water samples were taken weekly to biweekly at nine different subcatchments, and were screened for differences in electric conductivity, pH, anion, as well as element composition. A principal component analysis was conducted to reduce dimensionality of the data set and define major factors explaining variation in the data. Three main factors were isolated by a subset of 10 elements (Ca2+, Ce, Gd, K+, Mg2+, Na+, Nd, Rb, Sr, Y), explaining around 90% of the data variation. Land-use was the major factor controlling and changing water chemistry of the subcatchments. A second factor was associated with the concentration of rare earth elements in water, presumably highlighting other anthropogenic influences such as gravel excavation or road construction. Around 12% of the variation was explained by the third component, which was defined by the occurrence of Rb and K and represents the influence of vegetation dynamics on element accumulation and wash-out. Comparison of base- and fast flow concentrations led to the assumption that a significant portion of soil water from around 30 cm depth contributes to storm flow, as revealed by increased rare earth element concentrations in fast flow samples. Our findings demonstrate the utility of multi-tracer principal component analysis to study tropical headwater streams, and emphasize the need for effective land management in cloud forest catchments.

Comparing architectural styles for distributed expert knowledge modules in intelligent tutoring systems

Intelligent Tutoring Systems (ITSs) are computerized systems for learning-by-doing. These systems provide students with immediate and customized feedback on learning tasks. An ITS typically consists of several modules that are connected to each other. This research focuses on the distribution of the ITS module that provides expert knowledge services. For the distribution of such an expert knowledge module we need to use an architectural style because this gives a standard interface, which increases the reusability and operability of the expert knowledge module. To provide expert knowledge modules in a distributed way we need to answer the research question: ‘How can we compare and evaluate REST, Web services and Plug-in architectural styles for the distribution of the expert knowledge module in an intelligent tutoring system?’. We present an assessment method for selecting an architectural style. Using the assessment method on three architectural styles, we selected the REST architectural style as the style that best supports the distribution of expert knowledge modules. With this assessment method we also analyzed the trade-offs that come with selecting REST. We present a prototype and architectural views based on REST to demonstrate that the assessment method correctly scores REST as an appropriate architectural style for the distribution of expert knowledge modules.

Review of virtual power plant applications for the power system management and V2G market development

Utilization of renewable energy sources and energy storage systems is increasing with fostering new policies on energy industries. However, the increase of distributed generation hinders the reliability of power systems. In order to stabilize them, a virtual power plant emerges as a novel power grid management system. The VPP has a role to make a participation of different distributed energy resources and energy storage systems. This paper defines core technology of the VPP which are demand response and ancillary service concerning about Korea, America and Europe cases. It also suggests application solutions of the VPP to V2G market for restructuring national power industries in Korea.

Threat Analysis of BlackEnergy Malware for Synchrophasor based Real-time Control and Monitoring in Smart Grid

The BlackEnergy malware targeting critical infrastructures has a long history. It evolved over time from a simple DDoS platform to a quite sophisticated plug-in based malware. The plug-in architecture has a persistent malware core with easily installable attack specific modules for DDoS, spamming, info-stealing, remote access, boot-sector formatting etc. BlackEnergy has been involved in several high profile cyber physical attacks including the recent Ukraine power grid attack in December 2015. This paper investigates the evolution of BlackEnergy and its cyber attack capabilities. It presents a basic cyber attack model used by BlackEnergy for targeting industrial control systems. In particular, the paper analyzes cyber threats of BlackEnergy for synchrophasor based systems which are used for real-time control and monitoring functionalities in smart grid. Several BlackEnergy based attack scenarios have been investigated by exploiting the vulnerabilities in two widely used synchrophasor communication standards: (i) IEEE C37.118 and (ii) IEC 61850-90-5. Specifically, the paper addresses reconnaissance, DDoS, man-in-the-middle and replay/reflection attacks on IEEE C37.118 and IEC 61850-90-5. Further, the paper also investigates protection strategies for detection and prevention of BlackEnergy based cyber physical attacks.

Dielectric screening in atomically thin boron nitride nanosheets

Two-dimensional (2D) hexagonal boron nitride (BN) nanosheets are excellent dielectric substrate for graphene, molybdenum disulfide, and many other 2D nanomaterial-based electronic and photonic devices. To optimize the performance of these 2D devices, it is essential to understand the dielectric screening properties of BN nanosheets as a function of the thickness. Here, electric force microscopy along with theoretical calculations based on both state-of-the-art first-principles calculations with van der Waals interactions under consideration, and nonlinear Thomas-Fermi theory models are used to investigate the dielectric screening in high-quality BN nanosheets of different thicknesses. It is found that atomically thin BN nanosheets are less effective in electric field screening, but the screening capability of BN shows a relatively weak dependence on the layer thickness.

Substituting outline fonts for bitmap fonts in archived PDF files

As collections of archived digital documents continue to grow the maintenance of an archive, and the quality of reproduction from the archived format, become important long-term considerations. In particular, Adobe s PDF is now an important final form standard for archiving and distributing electronic versions of technical documents. It is important that all embedded images in the PDF, and any fonts used for text rendering, should at the very minimum be easily readable on screen. Unfortunately, because PDF is based on PostScript technology, it allows the embedding of bitmap fonts in Adobe Type 3 format as well as higher-quality outline fonts in TrueType or Adobe Type 1 formats. Bitmap fonts do not generally perform well when they are scaled and rendered on low-resolution devices such as workstation screens. The work described here investigates how a plug-in to Adobe Acrobat enables bitmap fonts to be substituted by corresponding outline fonts using a checksum matching technique against a canonical set of bitmap fonts, as originally distributed. The target documents for our initial investigations are those PDF files produced by (La)TEXsystems when set up in a default (bitmap font) configuration. For all bitmap fonts where recognition exceeds a certain confidence threshold replacement fonts in Adobe Type 1 (outline) format can be substituted with consequent improvements in file size, screen display quality and rendering speed. The accuracy of font recognition is discussed together with the prospects of extending these methods to bitmap-font PDF files from sources other than (La)TEX.

Renewable energy scenarios for South Karelia – non-industrial energy demands

Tässä diplomityössä tarkastellaan täysin uusiutuvaa energiajärjestelmää Etelä-Karjalan maakunnan alueella, mikä onkin jo tällä hetkellä Suomen uusiutuvin maakunta. Diplomityössä tarkastellaan julkisen sektorin, liikenteen ja rakennusten energian kulutusta mutta teollisuuden energiankäyttö jätetään tarkastelun ulkopuolelle. Työssä tutustutaan tämän hetken Etelä-Karjalan energiajärjestelmään ja sen perusteella tehdään referenssi-skenaario. Tulevaisuuden skenaariot tehdään vuosille 2030 ja 2050. Tulevaisuuden skenaarioissa muutos keskittyy järjestelmän sähköistymiseen ja uusiutuvien tuotantomuotojen integroimiseen järjestelmään. Sähköistyminen kasvattaa sähkönkulutusta, joka pyritään kattamaan uusiutuvilla tuotantomuodoilla, lähinnä tuuli- ja aurinkovoimalla. Liikennesektori rajataan kumipyöräliikenteeseen ja sen muutos tulee olemaan haastavin ja aikaa vievin. Muutokseen pyritään liikennepolttoaineiden tuotannolla maakunnassa sekä sähköautoilulla. Uusiutuva energiajärjestelmä tarvitsee tuotannon ja kysynnän joustoa sekä älyä järjestelmältä. Työssä tarkastellaan myös järjestelmän kustannuksia sekä työllisyysvaikutuksia.