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A Multilevel Optimization Model for a Distribution Power Grid with the Active Participation of Electric Vehicles Via Aggregators

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A Multilevel Optimization Model for a Distribution Power Gri...

International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Daniel Fernández Valderrama Giulio Ferro Luca Parodi Michela Robba Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

This paper formalizes a multi-level optimization problem for a distribution power grid. The grid is set up with Electrical Vehicles (EVs) to minimize the total energy cost and satisfy different loads distributed in the grid. At the higher level, the Distribution System Operator (DSO) must deal with a Balancing Market to minimize costs. Instead, at a lower level, Electrical Vehicle Aggregators (EVAs) aim at controlling the charging and discharging of Electrical Vehicles (EVs) maximizing their profit. The optimization problem of EVAs is solved analytically through KKT (Karush-Khun-Tucker) conditions and inserted into the DSO optimization problem. The complete optimization model has been implemented and tested in the IEEE 13-bus system. The results show that the proposed bi-level model significantly reduced the variation of peak consumption by 64.56% and the power cost by 3.07%.

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Distributed Control of a System of systems: An Alternating Direction Method of Multipliers Approach

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Distributed Control of a System of Systems: An Alternating D...

IEEE International Conference on System of systems engineering (SoSE)

作者： Alessandro Bozzi Simone Graffione Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In a system of systems, a system can be modelled as a set of interacting subsystems. When each subsystem can be separately controlled, a distributed algorithm can be applied to manage the control. In this work, we propose a distributed approach, the Alternating Direction Method of Multipliers (ADMM), based on a distributed Linear Quadratic Regulator (LQR) approach to manage the achievement of a common goal cooperatively. The proposed approach can work with different agents with a limited observation of the system of systems state. The method is demonstrated on a natural system including four interconnected water tanks (quad tank system) whose level can be controlled by two pumps. The results show the behaviour of the proposed algorithm when the tanks have to reach a constant set point and when they must agree on a time-varying set point.

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Optimizing a Capacitated Vehicle Routing Problem with Scheduled Arrival, Split Deliveries within Time Windows and Emission Consideration

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IFAC-PapersOnLine 2024年第2期58卷 180-185页

作者： Mohammad Javad Jafari Giulio Ferro Alessandro Magni Alberto Mereu Riccardo Minciardi Massimo Paolucci Michela Robba DIBRIS-Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa GE 16145 Italy Logistics and Transport Department Decathlon Italy Research & Technology Department Decathlon Italy

The Capacitated Vehicle Routing Problem (CVRP) has gained significant attention in both academic and industrial circles due to its pivotal role in optimizing logistic systems. In the context of evolving distributor companies and the growing integration of logistics with broader societal concerns such as climate considerations, this paper delves into a CVRP variant that includes time windows and split deliveries. Real-world assumptions are incorporated to enhance the practical applicability of the study. A mathematical model is proposed to minimize both economic costs and pollutant emissions. Given the unavailability of cost information for all possible routes, a cost function is estimated through multiple linear regression, considering both distance and time factors simultaneously, in order to associate to each link costs and emissions. To validate the effectiveness of the proposed model, a real-world case study involving an industrial distribution company is investigated. The results demonstrate a significant improvement compared to the company’s current operational procedures.

关键词： GHG emissions capacitated vehicle routing problem cost estimation split delivery multiple linear regression

Incremental Bootstrapping and Classification of Structured Scenes in a Fuzzy Ontology

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arXiv 2024年

作者： Buoncompagni, Luca Mastrogiovanni, Fulvio The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

We foresee robots that bootstrap knowledge representations and use them for classifying relevant situations and making decisions based on future observations. Particularly for assistive robots, the bootstrapping mechanism might be supervised by humans who should not repeat a training phase several times and should be able to refine the taught representation. We consider robots that bootstrap structured representations to classify some intelligible categories. Such a structure should be incrementally bootstrapped, i.e., without invalidating the identified category models when a new additional category is considered. To tackle this scenario, we presented the Scene Identification and Tagging (SIT) algorithm, which bootstraps structured knowledge representation in a crisp OWL-DL ontology. Over time, SIT bootstraps a graph representing scenes, sub-scenes and similar scenes. Then, SIT can classify new scenes within the bootstrapped graph through logic-based reasoning. However, SIT has issues with sensory data because its crisp implementation is not robust to perception noises. This paper presents a reformulation of SIT within the fuzzy domain, which exploits a fuzzy DL ontology to overcome the robustness issues. By comparing the performances of fuzzy and crisp implementations of SIT, we show that fuzzy SIT is robust, preserves the properties of its crisp formulation, and enhances the bootstrapped representations. On the contrary, the fuzzy implementation of SIT leads to less intelligible knowledge representations than the one bootstrapped in the crisp *** Codes 68T40 (Primary) 68T30, 68T27, 68T37, 03B52 (Secondary) © 2024, CC BY.

关键词： Knowledge representation

Learning Symbolic Task Representation from a Human-Led Demonstration: A Memory to Store, Retrieve, Consolidate, and Forget Experiences

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arXiv 2024年

作者： Buoncompagni, Luca Mastrogiovanni, Fulvio The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

We present a symbolic learning framework inspired by cognitive-like memory functionalities (i.e., storing, retrieving, consolidating and forgetting) to generate task representations to support high-level task planning and knowledge bootstrapping. We address a scenario involving a non-expert human, who performs a single task demonstration, and a robot, which online learns structured knowledge to re-execute the task based on experiences, i.e., observations. We consider a one-shot learning process based on non-annotated data to store an intelligible representation of the task, which can be refined through interaction, e.g., via verbal or visual communication. Our general-purpose framework relies on fuzzy Description Logic, which has been used to extend the previously developed Scene Identification and Tagging algorithm. In this paper, we exploit such an algorithm to implement cognitive-like memory functionalities employing scores that rank memorised observations over time based on simple heuristics. Our main contribution is the formalisation of a framework that can be used to systematically investigate different heuristics for bootstrapping hierarchical knowledge representations based on robot observations. Through an illustrative assembly task scenario, the paper presents the performance of our framework to discuss its benefits and *** Codes 68T40 (Primary) 68T20, 68T27, 68T30, 68T37, 05C72, 68Q32 (Secondary) © 2024, CC BY.

关键词： Knowledge representation

Scanning the Issue – Sept 2024 Additional Papers

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IEEE Transactions on Intelligent Transportation systems 2024年第9期25卷 10457-10461页

作者： Simona Sacone Department of Computer Science Bioengineering Robotics and Systems Engineering University of Genova Genova Italy

Summary form only: Abstracts of articles that will be presented in future issues of this publication.

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A modular architecture for IMU-based data gloves

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arXiv 2024年

作者： Carfì, Alessandro Alameh, Mohamad Belcamino, Valerio Mastrogiovanni, Fulvio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

The flexibility and range of motion in human hands play a crucial role in human interaction with the environment and have been studied across different fields. Researchers explored various technological solutions for gathering information from the hands. These solutions include tracking hand motion through cameras or wearable sensors and using wearable sensors to measure the position and pressure of contact points. Data gloves can collect both types of information by utilizing inertial measurement units, flex sensors, magnetic trackers for motion tracking, and force resistors or touch sensors for contact measurement. Although there are commercially available data gloves, researchers often create custom data gloves to achieve the desired flexibility and control over the hardware. However, the existing literature lacks standardization and the reuse of previously designed data gloves. As a result, many gloves with unclear characteristics exist, which makes replication challenging and negatively impacts the reproducibility of studies. This work proposes a modular, open hardware and software architecture for creating customized data gloves based on IMU technology. We also provide an architecture implementation along with an experimental protocol to evaluate device performance. © 2024, CC BY-NC-SA.

关键词： Wearable sensors

Smart Grid Stochastic Optimization with Ant Colony-based Scenario Generation

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IFAC-PapersOnLine 2024年第2期58卷 112-117页

作者： Daniel Fernández Valderrama Giulio Ferro Juan Ignacio Guerrero Alonso Carlos León de Mora Luca Parodi Michela Robba Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Department of Electronic Technology Escuela Politecnica Superior Universidad de Sevilla Sevilla Spain

This paper presents a stochastic optimization approach for the operational management of sustainable energy districts and polygeneration microgrids. Stochastic operation optimization allows for an uncertain approach to deal with imprecise variables. A new approach is here presented for generating scenarios based on Ant Colony Optimization (ACO) to assess the uncertainties related to inexact data, renewable energy sources and power demand. In fact, due to the uncertainties related to forecasting loads and renewables, it is necessary to analyze the probability of occurrence of the prediction and the different scenarios that could be faced. Then, based on the generated scenarios and probabilities, a scenario-based two-stage stochastic optimization approach has been formulated to optimize the operation strategies of the various technologies and solve the unit commitment problem under uncertainty. The developed models have been applied to the Savona Campus Smart Polygeneration Microgrid, and historical data from 2018 have been used.

关键词： ACO forecasting scenario generation stochastic optimization unit commitment problem

OWLOOP: Interfaces for Mapping OWL Axioms into OOP Hierarchies

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arXiv 2024年

作者： Buoncompagni, Luca Mastrogiovanni, Fulvio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

The paper tackles the issue of mapping logic axioms formalised in the Ontology Web Language (OWL) within the Object-Oriented Programming (OOP) paradigm. The issues of mapping OWL axioms hierarchies and OOP objects hierarchies are due to OWL-based reasoning algorithms, which might change an OWL hierarchy at runtime;instead, OOP hierarchies are usually defined as static structures. Although programming paradigms based on reflection allow changing the OOP hierarchies at runtime and mapping OWL axioms dynamically, there are no currently available mechanisms that do not limit the reasoning algorithms. Thus, the factory-based paradigm is typically used since it decouples the OWL and OOP hierarchies. However, the factory inhibits OOP polymorphism and introduces a paradigm shift with respect to widely accepted OOP paradigms. We present the OWLOOP API, which exploits the factory to not limit reasoning algorithms, and it provides novel OOP interfaces concerning the axioms in an ontology. OWLOOP is designed to limit the paradigm shift required for using ontologies while improving, through OOP-like polymorphism, the modularity of software architectures that exploit logic reasoning. The paper details our OWL to OOP mapping mechanism, and it shows the benefits and limitations of OWLOOP through examples concerning a robot in a smart *** Codes 68T27 (Primary) 68T30, 68N19, 68T40 (Secondary) © 2024, CC BY.

关键词： Software architecture