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Iberian Robotics Conference (ROBOT)

作者： José Pedro Carvalho António Paulo Moreira A. Pedro Aguiar Faculty of Engineering University of Porto (FEUP) Porto Portugal SYSTEC-ARISE Research Center for System and Technologies Porto Portugal INESC TEC-Institute for Systems and Computer Engineering Technology and Science Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In the field of intelligent autonomous robots, integrating optimization techniques with classical control theory methods for mobile robot control is an increasingly prominent area of research. The combination enhances robots' ability to perform their tasks more efficiently, reliably, and safely. This paper addresses the development of a path and motion planning framework for omnidirectional robots, leveraging B-Splines and Trajectory Tracking with Model Predictive Control. The proposed framework is evaluated through software-in-the-loop tests using two distinct dynamical models and sets of hyperparameters. Final validation is conducted by implementing the framework within a ROS environment and performing field tests on a robotic platform. The results demonstrate that the robot can reliably track trajectories at its actuation limits, and the proposed framework enables the robot to increase its velocity up to 50% when compared to a PID path-following controller.

关键词： Uncertainty Trajectory tracking Wheels Predictive models Trajectory Planning Mobile robots Splines (mathematics) Robots Predictive control

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Harnessing Parasitic Cavity as Reference for Low Coherence systems

Harnessing Parasitic Cavity as Reference for Low Coherence S...

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IEEE Photonics Conference (IPC)

作者： Paulo Robalinho A. Rodrigues S. Novais A. B. Lobo Ribeiro S. Silva O. Frazão INESC TEC Institute for Systems and Computer Engineering Technology and Science Porto Portugal Department of Engineering Physics Faculty of Engineering of University of Porto Portugal Faculty of Health Sciences University Fernando Pessoa Porto Portugal

This work presents an implementation of a reference optical cavity based on parasitic cavities on a low coherence interferometric system. This method allows a maximization of the number of sensors to be implemented wi... 详细信息

ISBN: (数字)9798350361957

ISBN: (纸本)9798350361964

关键词： Optical fibers Optical interferometry Optical fiber sensors Wavelength measurement Circulators Coherence Displacement measurement Optoelectronic and photonic sensors Photonics

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An Electricity Generation Expansion Model with ICEV and PEV Investments

An Electricity Generation Expansion Model with ICEV and PEV ...

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International Conference on European Electricity Market, EEM

作者： Rosendo Castanon Fco. Alberto Campos Fernandez Salvador Domenech Martinez Jose Villar Collado Instituto de Investigación Tecnológica IIT ICAI Universidad Pontificia Comillas Madrid Spain INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal

Environmental policies could accelerate the replacement of Internal Combustion Engine Vehicles (ICEV) by Plug-in-Electric Vehicles (PEV) in many countries. However, in countries where these policies are still not implemented (for example those with no significant PEV subsidies like Spain), technical and economic criteria can also be relevant to assess the future PEV penetration. This work develops a new long-term expansion model that computes the share of PEV and ICEV based on economic criteria, including the impact of PEV on the electricity price and generation mix. The model minimizes the power and transport system costs (investment, operation and maintenance costs, etc.) considering electricity and private transportation needs. Results provide insight on the combined evolution of the renewable generation and of the PEV and ICEV future fleets in Spain, considering environmental constraints such as those imposed by the European Commission.

关键词： Investment Europe Power systems Economics Computational modeling Transportation Acceleration

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A solution for resource allocation through complex systems in fog computing for the internet of things

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Computing 2024年第7期106卷 2107-2131页

作者： Faraji, Fatimah Javadpour, Amir Sangaiah, Arun Kumar Zavieh, Hadi Department of Computer Engineering Yazd University Safaeih Yazd100190 Iran Harbin Institute of Technology Shenzhen10587 China ADiT-Lab Electrotechnics and Telecommunications Department ISMAI and INESC TEC Instituto Politécnico de Viana do Castelo ISMAI Porto10587 Portugal International Graduate School of Artificial Intelligence National Yunlin University of Science and Technology Yunlin 64002 Taiwan Department of Economic and Statistics Guangzhou Higher Education Mega Center Guangzhou University Guangzhou510006 China Department of Electrical and Computer Engineering Lebanese American University Byblos13-5053 Lebanon

To manage the IoT resources to process the massive amount of collected data in complex systems, Allocation of tasks to nodes to increase user satisfaction has been noticed by researchers. In allocating tasks, the necessity of a powerful auxiliary platform is felt. Cloud and fog networks are two suitable options for performing and completing tasks on the Internet of Things. In the cloud network, due to offloading tasks to remote computing centers, problems such as increasing complete time, increasing traffic in the network, and high energy consumption for the Internet of Things network occur. The fog network solves the problem of completing tasks due to reducing the geographical distance between Internet of Things devices and processor nodes. The devices in the fog network cooperate with the Internet of Things network’s diverse and variable nodes with time computing, storage, and processing resources. In this heterogeneous environment, the non-cooperation and dishonesty of malicious fog nodes through misrepresentation of shared resources and non-completion of tasks can disrupt the performance of the Internet of Things network. As a result, two fundamental challenges in the heterogeneous fog network include providing resources to allocate tasks and recognizing valid fog nodes. This paper focuses on creating a resource provider network to allocate tasks to authentic fog nodes with appropriate resources. When an Internet of Things node faces a shortage of resources and link prediction, it can form a resource supply network with neighboring nodes to solve the two stated challenges. For this purpose, in the first stage, efforts are made to select the most appropriate options among the neighboring nodes based on specific criteria. In the second step, reliable nodes are identified based on a trust mechanism, including resource trust and entity trust. In the last step, tasks are divided among reliable devices with sufficient resources. The evaluation of the proposed method i

关键词： Quality of service

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Measurement of paracetamol concentration using a fiber laser system

Measurement of paracetamol concentration using a fiber laser...

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Bioengineering (ENBENG), Portuguese Meeting in

作者： Liliana Soares Rosa Ana Perez-Herrera Susana Novais António Ferreira Orlando Frazão Susana Silva Faculty of Engineering INESC TEC - Institute for Systems and Computer Engineering Technology and Science University of Porto Porto Portugal Department of Electrical Electronic and Communication Engineering Public Univ. of Navarra ISC - Institute of Smart Cities Public Univ. of Navarra Pamplona Spain INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal LEPABE-Laboratory for Process Engineering Environment Biotechnology and Energy University of Porto Porto Portugal ALiCE - Associate Laboratory in Chemical Engineering University of Porto Porto Portugal

A linear fiber laser system for measurements of paracetamol concentration is experimentally demonstrated. The cavity is based on a fiber loop mirror and an FBG centered at 1567.8 nm. The sensing head corresponds to a refractometric sensor, whose which principle of operation is based on Fresnel reflection in the fiber tip (FBG side). The system works at detected variations of paracetamol concentrations with a sensitivity of $[(8.74\pm 0.34)\times 10^{-5}]\ \ \mu \mathrm{W}/(\mathrm{g}/\text{kg})$ and a resolution of 2.77 g/kg. The results prove that the fiber laser system could be an asset for processing industries, specifically for non-invasive and real-time measurements of concentration.

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Prosumers' Participation Through Aggregators in Multi-Carrier Energy systems

Prosumers' Participation Through Aggregators in Multi-Carrie...

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Annual North-American Power Symposium

作者： Dana Marina Gálvez García Guillermo Gutierrez-Alcaraz Jose Horacio Tovar-Hernández Mohammad Sadegh Javadi Department of Electrical Engineering Tecnológico Nacional de México/I. T. Morelia Morelia Mexico Institute for Systems and Computer Engineering Technology and Science (INESC TEC) Porto Portugal

ISBN: (数字)9798331521035

ISBN: (纸本)9798331521042

In the context of the ongoing energy transition towards renewable sources and the decentralization of generation, multi-carrier energy systems emerge as a comprehensive solution that allows the synergic integration of different energy carriers, such as electricity, natural gas, heat, and storage, offering an effective response to the challenges posed by the variability of renewable generation and the fluctuation of energy demand. In addition, the inherent flexibility of these systems facilitates the management of the variability of renewable generation and adaptation to changes in energy demand, thus contributing to the stability and reliability of supply. In this context, the participation of prosumers who contribute their distributed generation and load flexibility through energy aggregators that effectively coordinate energy supply and demand in real-time ensures a constant balance in the energy system stands out. This paper explores the potential for various prosumer groups, facilitated by multi-carrier energy aggregators, to offer flexible services to electric distribution and natural gas grid utilities, given that natural gas is the prosumers' primary fuel for heating and cooking. The model is formulated as a two-level optimization problem. The upper level results in the emulation of the distribution system, while the lower level minimizes the flexible demand of prosumers. The interaction of the two levels is not through the price of electricity but through prosumer demand. The resulting optimization problem is a mixed-integer linear programming formulation. The results on the IEEE 33-bus distribution and 20-bus natural gas systems allow us to observe that the supply costs in the distribution and natural gas networks are efficiently reduced considering the coordination of prosumers' participation.

关键词： Renewable energy sources Energy consumption Costs Electricity Power system stability Propagation losses Stability analysis Natural gas Optimization Resistance heating

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Full distributed P2P market and distribution network operation based on ADMM: Testing and evaluation

Full distributed P2P market and distribution network operati...

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International Conference on European Electricity Market, EEM

作者： Carlos Oliveira Micael Simões Tiago Soares Manuel A. Matos Leonardo Bitencourt Institute for Systems and Computer Engineering Technology and Science (INESC TEC) University of Porto Faculty of Engineering (FEUP) Porto Portugal Electrical Energy Department Federal University of Juiz de Fora (UFJF) MG Brazil

This work models a distributed community-based market with diverse assets (photovoltaic generators and energy storage systems), accounting for network constraints and adopting the relaxed branch flow model. The market is modeled in a single and fully distributed approach, employing the alternating direction method of multipliers (ADMM) to prevent voltage and line capacity problems in the community network and improve data privacy and reduce the communication burden. Different scenarios, based on the penalty term and the agents' number, are tested to study the efficiency of the algorithm and the convergence rate of the ADMM distributed model. The proposed method is tested on 10-bus, 22-bus, and 33-bus medium voltage radial distribution networks, where each node contains a large prosumer with one or several assets. One important conclusion is that the implemented residual balancing technique improves the efficiency of the ADMM distributed algorithm by increasing the convergence rate and reducing the computational time.

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Multi-Agent Task Allocation to Minimize Costs of Energy Consumption in the Presence of a Price-Based Demand Response Program

Multi-Agent Task Allocation to Minimize Costs of Energy Cons...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Ali B. Bahgat Mohamed Lotfi Omar M. Shehata Elsayed I. Morgan Joao P. S. Catalao Multi-Robot Systems (MRS) Research Group German University in Cairo (GUC) Cairo Egypt Institute for Systems and Computer Engineering Technology and Science (INESC TEC) Porto Portugal Faculty of Engineering Ain Shams University Cairo Egypt

As a result of Demand Response (DR) programs implementation in the industrial sector, varying electricity prices based on Time-of-Use (ToU) rates are becoming more common, replacing traditional flate-rates per unit of energy consumption. On the other hand, increased automation of industrial facilities is gaining interest due to their reliability, flexibility, and robustness. However, it is necessary to determine a suitable task schedule in order to ensure their cost-efficiency and maximize profits. In this study, a Market-Based approach is considered to solve the Multi-Agent Task Allocation (MATA) problem for a group of homogeneous agents and tasks. While most previous studies model the problem considering flate-rates for electricity consumption, the main contribution of this study is accounting for the implementation of a DR program with varying ToU rates. The effects of optimizing the task allocation process on the costs incurred are investigated and compared to the effects of random assignment. Four different case studies are analyzed considering different-sized maps and number of tasks. The results show the computational efficiency of the proposed algorithm and its ability to massively decrease the electrical charging costs.

关键词： Task analysis Resource management Automation Load management Job shop scheduling Optimization Pricing

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Image and Command Transmission Over the 5G Network for Teleoperation of Mobile Robots

Image and Command Transmission Over the 5G Network for Teleo...

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Iberian Robotics Conference (ROBOT)

作者： Thiago B. Levin João Miguel Oliveira Ricardo B. Sousa Manuel F. Silva Bruno S. Parreira Héber Miguel Sobreira Hélio Sousa Mendonça CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal ISEP Polytechnic of Porto. Portugal NOS SGPS Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Human oversight can benefit scenarios with complex tasks, such as pallet docking and loading and unloading containers, beyond the current capabilities of autonomous systems without any failures. Furthermore, teleoperation systems allow remote control of mobile ground robots, especially with the surge of 5G technology that promises reliable and low latency communication. Current works research on exploring the latest features from the 5G standard, including ultra-Reliable Low-Latency Communication (uRLLC) and network slicing. However, these features may not be available depending on the Internet Service Provider (ISP) and communication devices. Thus, this work proposes a network architecture for the teleoperation of ground mobile robots in industrial environments using commercially available devices over the 5G Non-Standalone (NSA) standard. Experimental results include an evaluation of the network and End-to-End (E2E) latency of the proposed system. The results show that the proposed architecture enables teleoperation, achieving an average E2E latency of 347.19 ms.

关键词： 5G mobile communication Network slicing Web and internet services Ultra reliable low latency communication Mobile robots Reliability Surges Standards Remote control Pallets

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Magnetic microfluidic platform for biomedical applications using magnetic nanoparticles 4

Magnetic microfluidic platform for biomedical applications u...

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4th International Conference on Materials and Applications for Sensors and Transducers, MAST 2014

作者： Stipsitz, Martin Kokkinis, Georgios Gooneratne, Chinthaka Kosel, Jurgen Cardoso, Susana Cardoso, Filipe Giouroudi, Ioanna Institute of Sensor and Actuator Systems Vienna University of Technology Gusshausstrasse 27-29/366-ISS Vienna1040 Austria Computer Electrical and Mathematical Sciences and Engineering King Abdullah University of Science and Technology Saudi Arabia INESC Microsystems and Nanotechnologies and in Rua Alves Redol 9 Lisbon1000-029 Portugal

ISBN: (纸本)9783038354413

Microfluidic platforms are well-suited for biomedical analysis and usually consist of a set of units which guarantee the manipulation, detection and recognition of bioanalyte in a reliable and flexible manner. Additionally, the use of magnetic fields for perfoming the aforementioned tasks has been steadily gainining interest. This is due to the fact that magnetic fields can be well tuned and applied either externally or from a directly integrated solution in the diagnostic system. In combination with these applied magnetic fields, magnetic nanoparticles are used. In this paper, we present some of our most recent results in research towards a) microfluidic diagnostics using MR sensors and magnetic particles and b) single cell analysis using magnetic particles. We have successfully manipulated magnetically labeled bacteria and measured their response with integrated GMR sensors and we have also managed to separate magnetically labeled jurkat cells for single cell analysis. © 2015 Trans tech Publications, Switzerland.

关键词： Microfluidics

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