Real-Time Tariffs for Electric Vehicles in Wind Power based Power Systems

The use of Electric Vehicles (EVs) will change significantly the planning and management of power systems in a near future. This paper proposes a real-time tariff strategy for the charge process of the EVs. The main objective is to evaluate the influence of real-time tariffs in the EVs owners’ behaviour and also the impact in load diagram. The paper proposes the energy price variation according to the relation between wind generation and power consumption. The proposed strategy was tested in two different days in the Danish power system. January 31st and August 13th 2013 were selected because of the high quantities of wind generation. The main goal is to evaluate the changes in the EVs charging diagram with the energy price preventing wind curtailment.

Energy Resource Management under the Influence of the Weekend Transition Considering an Intensive use of Electric Vehicles

Energy resource scheduling is becoming increasingly important, as the use of distributed resources is intensified and of massive electric vehicle is envisaged. The present paper proposes a methodology for day-ahead energy resource scheduling for smart grids considering the intensive use of distributed generation and Vehicle-to-Grid (V2G). This method considers that the energy resources are managed by a Virtual Power Player (VPP) which established contracts with their owners. It takes into account these contracts, the users' requirements subjected to the VPP, and several discharge price steps. The full AC power flow calculation included in the model takes into account network constraints. The influence of the successive day requirements on the day-ahead optimal solution is discussed and considered in the proposed model. A case study with a 33-bus distribution network and V2G is used to illustrate the good performance of the proposed method.

Autonomous guided vehicles applied to industrial engineering and management studies

This article presents a framework to an Industrial Engineering and Management Science course from School of Management and Industrial Studies using Autonomous Ground Vehicles (AGV) to supply materials to a production line as an experimental setup for the students to acquire knowledge in the production robotics area. The students must be capable to understand and put into good use several concepts that will be of utmost importance in their professional life such as critical decisions regarding the study, development and implementation of a production line. The main focus is a production line using AGVs, where the students are required to address several topics such as: sensors actuators, controllers and an high level management and optimization software. The presented framework brings to the robotics teaching community methodologies that allow students from different backgrounds, that normally don’t experiment with the robotics concepts in practice due to the big gap between theory and practice, to go straight to ”making” robotics. Our aim was to suppress the minimum start point level thus allowing any student to fully experience robotics with little background knowledge.

Field experiments for marine casualty detection with autonomous surface vehicles

In this paper we present a set of field tests for detection of human in the water with an unmanned surface vehicle using infrared and color cameras. These experiments aimed to contribute in the development of victim target tracking and obstacle avoidance for unmanned surface vehicles operating in marine search and rescue missions. This research is integrated in the work conducted in the European FP7 research project Icarus aiming to develop robotic tools for large scale rescue operations. The tests consisted in the use of the ROAZ unmanned surface vehicle equipped with a precision GPS system for localization and both visible spectrum and IR cameras to detect the target. In the experimental setup, the test human target was deployed in the water wearing a life vest and a diver suit (thus having lower temperature signature in the body except hands and head) and was equipped with a GPS logger. Multiple target approaches were performed in order to test the system with different sun incidence relative angles. The experimental setup, detection method and preliminary results from the field trials performed in the summer of 2013 in Sesimbra, Portugal and in La Spezia, Italy are also presented in this work.

An Encoded Infrared Sheet Of Light Navigational Beacon System For Precise Localization Of Indoor Mobile Robot Vehicles

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

Estudi de l’eficiència aerodinàmica de vehicles pesants de transport de passatgers

Estudi de l’eficiència aerodinàmica de les carrosseries de vehicles pesants de cara a reduir el consum de combustible en autocars de llarg trajecte. L’estudi es basa en tres aspectes: validació del programa de simulació, estudi aerodinàmic de diferents carrosseries d’autocar de mercat i estudi aerodinàmic de diferents complements

Influència de l'ús del biodièsel en les emissions contaminants i en el consum de combustible en vehicles pesants

L’objecte d’aquest estudi consisteix en determinar la influència de l’ús del biodièsel en: 1.- Les variacions en comparació amb el combustible convencional (gasoil A) en les emissions de gasos i partícules contaminants en motors de vehicles pesants de transport de mercaderies. 2.- Les variacions en comparació amb el combustible convencional (gasoil A) en el nivell de so emès per motors de vehicles pesants de transport de mercaderies. 3.- Els canvis en el consum de combustible en vehicles pesants en comparació amb la utilització de gasoil A. 4.- Els problemes tècnics observats en motors de vehicles pesants de transport de mercaderies durant un període de funcionament elevat

Estudi de la influència del vent en l’estabilitat de vehicles pesants de transport de viatgers.

Investigacions recents revelen com l’acció del vent lateral és un efecte molt important en bona part dels accidents ocorreguts en vehicles pesants de transport per carretera. És per això que el perfil aerodinàmic del vehicle esdevé determinant en l’avaluació de les forces laterals que hi actuen. El present projecte té per objecte determinar les forces laterals que s’exerceixen en vehicles pesants de transport de passatgers degut a l’acció del vent i investigar-ne la seva perillositat. Per fer-ho s’utilitzen models numèrics de dinàmica de fluids i, per diferents velocitats del vehicle, es simulen vents amb diferent intensitat i direcció. D’aquí es determinen unes condicions de perillositat en funció, entre d’altres variables, de l’angle d’incidència del vent i de la seva velocitat

Aplicació de la tècnica d’ espectroscòpia d’ absorció atòmica de flama com a eina per al manteniment de vehicles

L’objectiu d’aquest projecte fi de carrera és en primer lloc, determinar les modificacions a realitzar en el laboratori de lubricants i combustibles de l’EPS per a la utilització de l’espectrofotòmetre d’absorció atòmica de flama; en segon lloc, posar a punt l’aparell establint els paràmetres i les condicions d’assaig idònies per a portar a terme les anàlisis de metalls de desgast presents en olis lubricants usats de motors de combustió interna. I finalment, establir un protocol de treball al laboratori i estudiar la viabilitat d’oferir el servei d’anàlisi de lubricants a empreses i particulars

A behavior-based scheme using reinforcement learning for autonomous underwater vehicles

This paper presents a hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs). Two main features of the presented approach are hybrid behavior coordination and semi on-line neural-Q_learning (SONQL). Hybrid behavior coordination takes advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach. SONQL, a new continuous approach of the Q_learning algorithm with a multilayer neural network is used to learn behavior state/action mapping online. Experimental results show the feasibility of the presented approach for AUVs

Model-based objects recognition in industrial environments for autonomous vehicles control

Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system

Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Manteniment de vehicles autopropulsats : fam??lia professional. Garantia social : iniciaci?? professional. Cicles formatius grau mitj??. Cicles formatius grau superior

Material cofinanciado por el Fondo Social Europeo. Este material forma parte de una carpeta titulada Formaci??n profesional: oferta educativa, compuesta por un conjunto de folletos y un cd-rom