Model Based On-Line Energy Prediction System for Semi-Autonomous Mobile Robots

Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

Leakage-aware cooling management for improving server energy efficiency

The computational and cooling power demands of enterprise servers are increasing at an unsustainable rate. Understanding the relationship between computational power, temperature, leakage, and cooling power is crucial to enable energy-efficient operation at the server and data center levels. This paper develops empirical models to estimate the contributions of static and dynamic power consumption in enterprise servers for a wide range of workloads, and analyzes the interactions between temperature, leakage, and cooling power for various workload allocation policies. We propose a cooling management policy that minimizes the server energy consumption by setting the optimum fan speed during runtime. Our experimental results on a presently shipping enterprise server demonstrate that including leakage awareness in workload and cooling management provides additional energy savings without any impact on performance.

Integral energy behaviour of photovoltaic semi-transparent glazing elements for building integration

La hipótesis general que esta tesis quiere demostrar es que la integración arquitectónica de sistemas fotovoltaicos semitransparentes (STPV) puede contribuir a mejorar la eficiencia energética de los edificios. Por lo tanto, la investigación se centra en el desarrollo de una metodología capaz de cuantificar la reducción de la demanda energética del edificio proporcionada por estas novedosas soluciones constructivas. Al mismo tiempo, los parámetros de diseño de las soluciones STPV se han analizado para establecer cuales presentan el mayor impacto sobre el balance energético global del edificio y por lo tanto tienen que ser cuidadosamente definidos a la hora de optimizar el comportamiento energético del mismo. A la luz de estos objetivos, la metodología de estudio se ha centrado en tres puntos principales:  Caracterizar el comportamiento energético global de sistemas STPV en condiciones de operación realistas, similares a las que se darían en un sistema real;  Caracterizar el comportamiento energético global de sistemas STPV en condiciones controladas, con el objetivo de estudiar la variación del comportamiento del los elementos en función de parámetro de diseño y operación;  Evaluar el potencial de ahorro energético global de los sistemas STPV en comparación con soluciones acristaladas convencionales al variar de las condiciones de contorno constituidas por los parámetros de diseño (como el grado de transparencia), las características arquitectónicas (como el ratio entre superficie acristalada y superficie opaca en la fachada del edificio) y las condiciones climáticas (cubriendo en particular la climatología europea). En síntesis, este trabajo intenta contribuir a comprender la interacción que existe entre los sistemas STPV y el edificio, proporcionando tanto a los fabricantes de los componentes como a los profesionales de la construcción información valiosa sobre el potencial de ahorro energético asociado a estos nuevos sistemas constructivos. Asimismo el estudio define los parámetros de diseño adecuados para lograr soluciones eficientes tanto en proyectos nuevos como de rehabilitación. ABSTRACT The general hypothesis this work seeks to demonstrate is that the architectural integration of Semi-Transparent Photovoltaic (STPV) systems can contribute to improving the energy efficiency of buildings. Accordingly, the research has focused on developing a methodology able to quantify the building energy demand reduction provided by these novel constructive solutions. At the same time, the design parameters of the STPV solution have been analysed to establish which of them have the greatest impact on the global energy balance of the building, and therefore which have to be carefully defined in order to optimize the building operation. In the light of these goals, the study methodology has focused on three main points:  To characterise the global energy behaviour of STPV systems in realistic operating conditions, similar to those in which a real system will operate;  To characterise the global energy behaviour of STPV systems in controlled conditions in order to study how the performance varies depending on the design and operating parameters;  To assess the global energy saving potential of STPV systems in comparison with conventional glazing solutions by varying the boundary conditions, including design parameters (such as the degree of transparency), architectural characteristics (such as the Window to Wall Ratio) and climatic conditions (covering the European climatic conditions). In summary, this work has sought to contribute to the understanding of the interaction between STPV systems and the building, providing both components manufacturers and construction technicians, valuable information on the energy savings potential of these new construction systems and defining the appropriate design parameters to achieve efficient solutions in both new and retrofitting projects.

Trees as Tools in Environmental Improvement; An Analysis of the Contribution of Vegetation to Energy and Water Conservation in the Front Range of Colorado

The Denver metropolitan area is facing rapid population growth that increases the stress on already limited resources. Research and advanced computer modeling show that trees, especially those in urban areas, have significant environmental benefits. These benefits include air quality improvements, energy savings, greenhouse gas reduction, and possible water conservation. This Capstone Project applies statistical methods to analyze a small data set of residential homes and their energy and water consumption, as a function of their individual landscape. Results indicate that tree shade can influence water conservation, and that irrigation methods can be an influential factor as well. The Capstone is a preliminary analysis for future study to be performed by the Institute for Environmental Solutions in 2007.

A new technique for recovering energy in thermally coupled distillation using vapor recompression cycles

Even though it has been proved that a fully thermally coupled distillation (TCD) system minimizes the energy used by a sequence of columns, it is well-known that vapor/liquid transfers between different sections produce an unavoidable excess of vapor (liquid) in some of them, increasing both the investment and operating costs. It is proposed here to take advantage of this situation by extracting the extra vapor/liquid and subjecting it to a direct/reverse vapor compression cycle. This new arrangement restores the optimal operating conditions of some of the affected sections with energy savings of around 20–30% compared with conventional TCD columns. Various examples, including the direct and reverse vapor recompression cycles, are presented. Furthermore, in each example, all possible modes of distillation (direct, indirect and Petlyuk distillation) with and without vapor recompression cycles (VRC) are compared to ensure that this approach delivers the best results.

Energy efficiency: the ever neglected priority of the European energy strategy. Egmont Paper No. 66, June 2014

Summary. Energy saving has been a stated policy objective of the EU since the 1970s. Presently, the 2020 target is a 20% reduction of EU energy consumption in comparison with current projections for 2020. This is one of the headline targets of the European Energy Strategy 2020 but efforts to achieve it remain slow and insufficient. The aim of this paper is to understand why this is happening. Firstly, this paper examines the reasons why public measures promoting energy efficiency are needed and what form these measures should optimally take (§ 1). Fortunately, over the last 20 years, much research has been done into the famous ‘energy efficiency gap’ (or ‘the energy efficiency paradox’), even if more remains to be done. Multiple explanations have been given: market failures, modelling flaws and behavioural obstacles. Each encompasses many complex aspects. Several types of instruments can be adopted to encourage energy efficiency: measures guaranteeing the correct pricing of energy are preferred, followed by taxes or tradable white certificates which in turn are preferred to standards or subsidies. Information programmes are also necessary. Secondly, the paper analyzes the evolution of the different programmes from 2000 onwards (§ 2). This reveals the extreme complexity of the subject. It deals with quite diverse topics: buildings, appliances, public sector, industry and transport. The market for energy efficiency is as diffuse as energy consumption patterns themselves. It is composed of many market actors who demand more efficient provision of energy services, and that suppliers of the necessary goods and know-how deliver this greater efficiency. Consumers in this market include individuals, businesses and governments, and market activities cover all energy-consuming sectors of the economy. Additionally, energy efficiency is the perfect example of a shared competence between the EU and the Member States. Lastly, the legal framework has steadily increased in complexity, and despite the successive energy efficiency programmes used to build this framework, it has become clear that the gap between the target and the results remains. The paper then examines whether the 2012/27/EU Directive adopted to improve the situation could bring better results. It briefly describes the content of this framework Directive, which accompanies and implements the latest energy efficiency programme (§ 3). Although the Directive is technically complex and maintains nonbinding energy efficiency targets, it certainly represents an improvement in several aspects. However, it is also saddled with a multiplicity of exemption clauses and interpretative documents (with no binding value) which weaken its provisions. Furthermore, alone, it will allow the achievement of only about 17.7% of final energy savings by 2020. The implementation process, which is essential, also remains fairly weak. The paper also gives a glimpse of the various EU instruments for financing energy efficiency projects (§ 4). Though useful, they do not indicate a strong priority. Fourthly, the paper tries to analyze the EU’s limited progress so far and gather a few suggestions for improvement. One thing seems to remain useful: targets which can be defined in various ways (§ 5). Basically, all this indicates that the EU energy efficiency strategy has so far failed to reach its targets, lacks coherence and remains ambiguous. In the new Commission’s proposals of 22 January 2014 – intended to define a new climate/energy package in the period from 2020 to 2030 – the approach to energy efficiency remains unclear. This is regrettable. Energy efficiency is the only instrument which allows the EU to reach simultaneously its three targets: sustainability, competitiveness and security. The final conclusion appears thus paradoxical. On the one hand, all existing studies indicate that the decarbonization of the EU economy will be absolutely impossible without some very serious improvements in energy efficiency. On the other hand, in reality energy efficiency has always been treated as a second zone priority. It is imperative to eliminate this contradiction.

Essays on Energy Economics and Industrial Organization

The dissertation consists of three chapters related to the low-price guarantee marketing strategy and energy efficiency analysis. The low-price guarantee is a marketing strategy in which firms promise to charge consumers the lowest price among their competitors. Chapter 1 addresses the research question "Does a Low-Price Guarantee Induce Lower Prices'' by looking into the retail gasoline industry in Quebec where there was a major branded firm which started a low-price guarantee back in 1996. Chapter 2 does a consumer welfare analysis of low-price guarantees to drive police indications and offers a new explanation of the firms' incentives to adopt a low-price guarantee. Chapter 3 develops the energy performance indicators (EPIs) to measure energy efficiency of the manufacturing plants in pulp, paper and paperboard industry.

Chapter 1 revisits the traditional view that a low-price guarantee results in higher prices by facilitating collusion. Using accurate market definitions and station-level data from the retail gasoline industry in Quebec, I conducted a descriptive analysis based on stations and price zones to compare the price and sales movement before and after the guarantee was adopted. I find that, contrary to the traditional view, the stores that offered the guarantee significantly decreased their prices and increased their sales. I also build a difference-in-difference model to quantify the decrease in posted price of the stores that offered the guarantee to be 0.7 cents per liter. While this change is significant, I do not find the response in comeptitors' prices to be significant. The sales of the stores that offered the guarantee increased significantly while the competitors' sales decreased significantly. However, the significance vanishes if I use the station clustered standard errors. Comparing my observations and the predictions of different theories of modeling low-price guarantees, I conclude the empirical evidence here supports that the low-price guarantee is a simple commitment device and induces lower prices.

Chapter 2 conducts a consumer welfare analysis of low-price guarantees to address the antitrust concerns and potential regulations from the government; explains the firms' potential incentives to adopt a low-price guarantee. Using station-level data from the retail gasoline industry in Quebec, I estimated consumers' demand of gasoline by a structural model with spatial competition incorporating the low-price guarantee as a commitment device, which allows firms to pre-commit to charge the lowest price among their competitors. The counterfactual analysis under the Bertrand competition setting shows that the stores that offered the guarantee attracted a lot more consumers and decreased their posted price by 0.6 cents per liter. Although the matching stores suffered a decrease in profits from gasoline sales, they are incentivized to adopt the low-price guarantee to attract more consumers to visit the store likely increasing profits at attached convenience stores. Firms have strong incentives to adopt a low-price guarantee on the product that their consumers are most price-sensitive about, while earning a profit from the products that are not covered in the guarantee. I estimate that consumers earn about 0.3% more surplus when the low-price guarantee is in place, which suggests that the authorities should not be concerned and regulate low-price guarantees. In Appendix B, I also propose an empirical model to look into how low-price guarantees would change consumer search behavior and whether consumer search plays an important role in estimating consumer surplus accurately.

Chapter 3, joint with Gale Boyd, describes work with the pulp, paper, and paperboard (PP&PB) industry to provide a plant-level indicator of energy efficiency for facilities that produce various types of paper products in the United States. Organizations that implement strategic energy management programs undertake a set of activities that, if carried out properly, have the potential to deliver sustained energy savings. Energy performance benchmarking is a key activity of strategic energy management and one way to enable companies to set energy efficiency targets for manufacturing facilities. The opportunity to assess plant energy performance through a comparison with similar plants in its industry is a highly desirable and strategic method of benchmarking for industrial energy managers. However, access to energy performance data for conducting industry benchmarking is usually unavailable to most industrial energy managers. The U.S. Environmental Protection Agency (EPA), through its ENERGY STAR program, seeks to overcome this barrier through the development of manufacturing sector-based plant energy performance indicators (EPIs) that encourage U.S. industries to use energy more efficiently. In the development of the energy performance indicator tools, consideration is given to the role that performance-based indicators play in motivating change; the steps necessary for indicator development, from interacting with an industry in securing adequate data for the indicator; and actual application and use of an indicator when complete. How indicators are employed in EPA’s efforts to encourage industries to voluntarily improve their use of energy is discussed as well. The chapter describes the data and statistical methods used to construct the EPI for plants within selected segments of the pulp, paper, and paperboard industry: specifically pulp mills and integrated paper & paperboard mills. The individual equations are presented, as are the instructions for using those equations as implemented in an associated Microsoft Excel-based spreadsheet tool.

Achieving Energy Saving through Proxying Applications on behalf of Idle Devices

Several studies in the past have revealed that network end user devices are left powered up 24/7 even when idle just for the sake of maintaining Internet connectivity. Network devices normally support low power states but are kept inactive due to their inability to maintain network connectivity. The Network Connectivity Proxy (NCP) has recently been proposed as an effective mechanism to impersonate network connectivity on behalf of high power devices and enable them to sleep when idle without losing network presence. The NCP can efficiently proxy basic networking protocol, however, proxying of Internet based applications have no absolute solution due to dynamic and non-predictable nature of the packets they are sending and receiving periodically. This paper proposes an approach for proxying Internet based applications and presents the basic software architectures and capabilities. Further, this paper also practically evaluates the proposed framework and analyzes expected energy savings achievable under-different realistic conditions.

Parallel Cyclostationarity-Exploiting Algorithm for Energy-Efficient Spectrum Sensing

The evolution of wireless communication systems leads to Dynamic Spectrum Allocation for Cognitive Radio, which requires reliable spectrum sensing techniques. Among the spectrum sensing methods proposed in the literature, those that exploit cyclostationary characteristics of radio signals are particularly suitable for communication environments with low signal-to-noise ratios, or with non-stationary noise. However, such methods have high computational complexity that directly raises the power consumption of devices which often have very stringent low-power requirements. We propose a strategy for cyclostationary spectrum sensing with reduced energy consumption. This strategy is based on the principle that p processors working at slower frequencies consume less power than a single processor for the same execution time. We devise a strict relation between the energy savings and common parallel system metrics. The results of simulations show that our strategy promises very significant savings in actual devices.

Survery and simulation of energy use in the European building stock

the work towards increased energy efficiency. In order to plan and perform effective energy renovation of the buildings, it is necessary to have adequate information on the current status of the buildings in terms of architectural features and energy needs. Unfortunately, the official statistics do not include all of the needed information for the whole building stock.   This paper aims to fill the gaps in the statistics by gathering data from studies, projects and national energy agencies, and by calibrating TRNSYS models against the existing data to complete missing energy demand data, for countries with similar climate, through simulation. The survey was limited to residential and office buildings in the EU member states (before July 2013). This work was carried out as part of the EU FP7 project iNSPiRe.   The building stock survey revealed over 70% of the residential and office floor area is concentrated in the six most populated countries. The total energy consumption in the residential sector is 14 times that of the office sector. In the residential sector, single family houses represent 60% of the heated floor area, albeit with different share in the different countries, indicating that retrofit solutions cannot be focused only on multi-family houses.   The simulation results indicate that residential buildings in central and southern European countries are not always heated to 20 °C, but are kept at a lower temperature during at least part of the day. Improving the energy performance of these houses through renovation could allow the occupants to increase the room temperature and improve their thermal comfort, even though the potential for energy savings would then be reduced.

Parallel Cyclostationarity-Exploiting Algorithm for Energy-Efficient Spectrum Sensing

The evolution of wireless communication systems leads to Dynamic Spectrum Allocation for Cognitive Radio, which requires reliable spectrum sensing techniques. Among the spectrum sensing methods proposed in the literature, those that exploit cyclostationary characteristics of radio signals are particularly suitable for communication environments with low signal-to-noise ratios, or with non-stationary noise. However, such methods have high computational complexity that directly raises the power consumption of devices which often have very stringent low-power requirements. We propose a strategy for cyclostationary spectrum sensing with reduced energy consumption. This strategy is based on the principle that p processors working at slower frequencies consume less power than a single processor for the same execution time. We devise a strict relation between the energy savings and common parallel system metrics. The results of simulations show that our strategy promises very significant savings in actual devices.

Selection of optimal operating conditions based on minimum energy consumption for an acrylonitrile recovery unit

The selection of the optimal operating conditions for an industrial acrylonitrile recovery unit was conducted by the systematic application of the response surface methodology, based on the minimum energy consumption and products specifications as process constraints. Unit models and plant simulation were validated against operating data and information. A sensitivity analysis was carried out in order to identify the set of parameters that strongly affect the trajectories of the system while keeping products specifications. The results suggest that energy savings of up to 10% are possible by systematically adjusting operating conditions.

Multi-level, Multi-stage and Stochastic Optimization Models for Energy Conservation in Buildings for Federal, State and Local Agencies

Energy Conservation Measure (ECM) project selection is made difficult given real-world constraints, limited resources to implement savings retrofits, various suppliers in the market and project financing alternatives. Many of these energy efficient retrofit projects should be viewed as a series of investments with annual returns for these traditionally risk-averse agencies. Given a list of ECMs available, federal, state and local agencies must determine how to implement projects at lowest costs. The most common methods of implementation planning are suboptimal relative to cost. Federal, state and local agencies can obtain greater returns on their energy conservation investment over traditional methods, regardless of the implementing organization. This dissertation outlines several approaches to improve the traditional energy conservations models. Any public buildings in regions with similar energy conservation goals in the United States or internationally can also benefit greatly from this research. Additionally, many private owners of buildings are under mandates to conserve energy e.g., Local Law 85 of the New York City Energy Conservation Code requires any building, public or private, to meet the most current energy code for any alteration or renovation. Thus, both public and private stakeholders can benefit from this research. The research in this dissertation advances and presents models that decision-makers can use to optimize the selection of ECM projects with respect to the total cost of implementation. A practical application of a two-level mathematical program with equilibrium constraints (MPEC) improves the current best practice for agencies concerned with making the most cost-effective selection leveraging energy services companies or utilities. The two-level model maximizes savings to the agency and profit to the energy services companies (Chapter 2). An additional model presented leverages a single congressional appropriation to implement ECM projects (Chapter 3). Returns from implemented ECM projects are used to fund additional ECM projects. In these cases, fluctuations in energy costs and uncertainty in the estimated savings severely influence ECM project selection and the amount of the appropriation requested. A risk aversion method proposed imposes a minimum on the number of “of projects completed in each stage. A comparative method using Conditional Value at Risk is analyzed. Time consistency was addressed in this chapter. This work demonstrates how a risk-based, stochastic, multi-stage model with binary decision variables at each stage provides a much more accurate estimate for planning than the agency’s traditional approach and deterministic models. Finally, in Chapter 4, a rolling-horizon model allows for subadditivity and superadditivity of the energy savings to simulate interactive effects between ECM projects. The approach makes use of inequalities (McCormick, 1976) to re-express constraints that involve the product of binary variables with an exact linearization (related to the convex hull of those constraints). This model additionally shows the benefits of learning between stages while remaining consistent with the single congressional appropriations framework.

Energy-efficient tall buildings design strategies: a holistic approach

The number of tall buildings is increasing as a result of the advances in construction technologies and the rising land prices. These buildings are characterised by their high energy consumption compared to other building types as they rely intensively on mechanical HVAC systems due to the extreme weather conditions associated with the increase in height. However, they present a great opportunity for energy savings. In recent years, it has been noticed the increasing interest in geometry and form of tall buildings, as a result of the evolution of parametric modelling and 3D visualisation tools, on the expense of the environmental aspect. This paper discusses factors affecting the energy consumption in the tall buildings. Through an extensive analysis of Literature, active and passive energy efficient strategies adopted in tall building at various building stages are identified. In addition, the role of architectural design parameters, such as building form, orientation and envelope on the tall building energy performance are highlighted. Finally, a set of guidelines and environmental design strategies to be considered in different phases in order to achieve energy-efficient tall buildings are proposed. These strategies have been categorised into four stages namely early design, conceptualisation, and documentation and operational. A 3D modelling approach was used to visualise and illustrate the proposed strategies in different stages.

Performance assessment of earth pipe cooling system for low energy buildings in a subtropical climate

Energy consumption in heating and cooling around the world has been a major contributor to global warming. Hence, many studies have been aimed at finding new techniques to save and control energy through energy efficient measures. Most of this energy is used in residential, agricultural and commercial buildings. It is therefore important to adopt energy efficiency measures in these buildings through new technologies and novel building designs. These new building designs can be developed by employing various passive cooling systems. Earth pipe cooling is one of these which can assist to save energy without using any customary mechanical units. This paper investigates the earth pipe cooling performance in a hot humid subtropical climate of Rockhampton, Australia. A thermal model is developed using ANSYS Fluent for measuring its performance. Impacts of air velocity, air temperature, relative humidity and soil temperature on room cooling performance are also assessed. A temperature reduction of around 2 °C was found for the system. This temperature reduction contributed to an energy saving of a maximum of 866.54 kW (8.82%) per year for a 27.23 m3 room.