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TOWARDS GRID CODE COMPLIANCE OF HYBRID POWER PLANTS WITH POWER MANAGEMENT SYSTEMS 8

TOWARDS GRID CODE COMPLIANCE OF HYBRID POWER PLANTS WITH POW...

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8th International Hybrid Power Plants and Systems Workshop, HYB 2024

作者： Martinez-Rico, Jon Iov, Florin Azpeitia, Jose Luis de Argandoña, Ismael Ruiz Armendia, Mikel Automation and Control Unit Tekniker Eibar Spain Energy Department Aalborg University Aalborg Denmark

ISBN: (纸本)9781837241521

Hybrid power plants (HyPPs) integrating renewable generation and storage are able to cope with many of the challenges related to the renewable energies-based future electricity generation. To fully leverage their advantages over conventional mono-technology power plants, a correct coordination and optimal scheduling of the setpoints for each subplant becomes essential. In this paper, a novel power management system (PMS) is presented to coordinate the operation of a HyPP consisting of a wind power plant, solar PV power plant and a battery energy storage system (BESS). The design of this PMS is oriented towards the compliance of the Spanish Grid Code, which imposes several technical requirements to allow the connection of the HyPP to the grid. To validate and test the PMS, a hardware-in-the-loop (HIL) approach is used, using an industrial PLC and communicating with an OPAL-RT digital simulator running a model of the HyPP in real-time. © Energynautics GmbH.

关键词： Hybrid power

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Dynamic Accuracy Optimization for NC controlled Industrial Robots 28

Dynamic Accuracy Optimization for NC controlled Industrial R...

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28th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2023

作者： Mandiola, Asier Armendia, Mikel Gonzalez, Diego Eguskiza, Jon Automation and Control Unit TEKNIKER Eibar Spain Mechanical Engineering Unit TEKNIKER Eibar Spain

ISBN: (纸本)9798350339918

In the last years the usage of industrial robotic manipulators is being extended to new applications, like laser or machining-based manufacturing. These applications require new user interface functionalities coming from common NC control systems, as well as increased demands in path tracking, dynamics, and accuracy. In this paper, a Dynamic Accuracy Optimization strategy is applied on a NC controlled industrial manipulator to minimize robot Tool Center Point errors during path execution. A state-of-the-art laser tracker system is used for online characterization of the TCP position which is fed to the compensation algorithm integrated in the NC controller. A drastic reduction of static and dynamic errors has been observed in both linear and orientation degrees of freedom, impacting also in the resulting path errors. © 2023 IEEE.

关键词： Errors

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Pushing the limit to near real-time indoor LiDAR-based semantic segmentation 8

Pushing the limit to near real-time indoor LiDAR-based seman...

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8th International ISPRS Workshop LowCost 3D - Sensors, Algorithms, Applications

作者： Bournez, Pierrick Salzinger, Jules Cella, Marco Vultaggio, Francesco d'Apolito, Francesco Fanta-Jende, Phillipp AIT Austrian Institute of Technology Center for Vision Automation and Control Unit Assistive and Autonomous Systems Austria

Semantic segmentation of indoor 3D point clouds is a critical technology for understanding three dimensional indoor environments, with significant applications in indoor navigation, positioning, and intelligent robotics. While real-time semantic segmentation is already a reality for images, existing classification pipelines for LiDAR point clouds assume a pre-existing map which relies on data collected from accurate but heavy sensors. However, this approach is impractical for high-level task planning and autonomous exploration, which benefits from a rapid 3D structure understanding of the environment. Furthermore, while RGB cameras remain a popular choice in good visibility conditions, such sensors are inefficient in environments where visibility is hindered. Consequently, LiDAR point clouds emerge as a rather reliable source of environmental information in such circumstances. In this paper, we adapt an existing semantic segmentation model, Superpoint Transformer, to LiDAR-based situation where RGB inputs are not available and near real-time processing is attempted. To this end, we simulated our robot's trajectory and leveraged Hidden Point Removal using the open-source dataset S3DIS to train the model. We investigated various strategies such as modifying the interval prediction and thoroughly study its influence on the prediction intervals. Our model demonstrates an improvement from 40 to 67.6 mean Intersection over Union (mIoU) compared to the baseline on simple (floor, ceiling, walls) and complex (doors, windows) classes. Copyright: © 2024 Pierrick Bournez et al.

关键词： Semantic Segmentation

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation 9

Video Streaming Protocols Comparison in Field Experiments fo...

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9th International Conference on Mechanical Engineering and Robotics Research, ICMERR 2025

作者： Fernandez, Manuel J. Franceschini, Riccardo Becerra, Julian Cayero Fumagalli, Matteo Technical University of Denmark Department of Electrical Engineering Automation and Control Kongens Lyngby2800 Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola Del Vallès Barcelona Spain

ISBN: (纸本)9798331509262

As aerial robots evolve to perform complex tasks such as manipulation and visual inspection, maintaining the pilot at the center of decision-making is critical for mission safety and leveraging human expertise. A key enabler of this collaboration is reliable video streaming between the robot and the operator. This paper presents a comparative analysis of four video streaming protocols RTP (Real-time Transport Protocol), RTSP (Real-Time Streaming Protocol), SRT (Secure Reliable Transport), and ROSTCP (ROS Transport control Protocol) based on extensive field experiments. The evaluation focuses on CPU usage, network throughput, latency, streaming quality, and packet integrity across varying distances. Tools such as iperf, ping, GStreamer, and Wireshark were employed for detailed performance measurements. Results reveal significant differences: SRT and RTP deliver superior network stability and resilience to packet loss, while RTSP and ROSTCP show advantages in CPU efficiency. These findings provide actionable insights for optimizing video streaming in aerial robotics, emphasizing the trade-offs and advantages of each protocol in real-world scenarios. © 2025 IEEE.

关键词： Social robots

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TECHNO-ECONOMIC EFFECTS OF ELECTRICITY MARKET CONDITIONS IN THE OPTIMAL OPERATION OF HYBRID POWER PLANTS 7

TECHNO-ECONOMIC EFFECTS OF ELECTRICITY MARKET CONDITIONS IN ...

引用

7th International Hybrid Power Plants and Systems Workshop, HYB 2023

作者： Martinez-Rico, Jon de Argandoña, Ismael Ruiz Zulueta, Ekaitz Armendia, Mikel Fernandez-Gamiz, Unai Automation and Control Unit Tekniker Basque Research and Technology Alliance Eibar Spain Vitoria-Gasteiz Spain Vitoria-Gasteiz Spain

ISBN: (纸本)9781839539091

Hybrid power plants (HyPPs) combining different renewable energy sources with battery energy storage systems (BESSs) present multiple advantages and might become a key part of the energy transition, but the still high price of BESSs and varying market conditions could slow down the investment on them. In this paper, the optimal operation of a HyPP consisting of wind, solar photovoltaic and a BESS operating in the Iberian Electricity Market is analysed under the market scenarios between 2018 and 2022. The study reveals the significant effects of the market conditions regarding the revenues obtained by installing BESSs, but claims the need for new market mechanisms to ensure their feasibility. Moreover, a closer market study indicates that price difference rates between markets have not varied significantly, resulting in similar optimal operation strategies in the studied years. © 2023 IET Conference Proceedings. All rights reserved.

关键词： Investments

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Optimal Dispatch of Cogeneration with Thermal and Battery Energy Storage for BEMS Subject to Load Demand Uncertainty 19

Optimal Dispatch of Cogeneration with Thermal and Battery En...

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19th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2022

作者： Trairat, Parichada Banjerdpongchai, David Chulalonkorn University Intelligent Control Automation of Process Systems Research Unit Dept of Electrical Engineering Bangkok10330 Thailand

ISBN: (纸本)9781665485845

This paper presents optimal dispatch of cogeneration with thermal energy storage (TES) and battery energy storage (BES) for Building Energy Management System (BEMS) subject to load demand uncertainty. The energy supply of BEMS consists of combined heat and power (CHP), an auxiliary boiler, an absorption chiller, battery energy storage (BES), spinning reserve (SR) and power grids. Previous research related to CHP for BEMS provides optimal operation to minimize total operating cost (TOC), but their operation has only CHP and TES for supply the electrical energy. In this paper, we propose to add BES and SR which aims to supply the electrical energy in the building subject to load demand uncertainty. The load demand uncertainty arises from the difference between the forecasted load demand and the actual load demand. We apply artificial neural network (ANN) to analyze the load demand uncertainty. BES and SR are utilized to tackle the load uncertainty. Then, we design economic optimal operationwith TOC as the objective function. We apply the proposed BEMS with a large shopping mall to demonstrate improvements in energy efficiency. The numerical results manifest that the proposed dispatch can reduce 12.52% of TOC compared to the previous BEMS without BES and SR. © 2022 IEEE.

关键词： Uncertainty analysis

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Towards grid code compliance of hybrid power plants with power management systems

Towards grid code compliance of hybrid power plants with pow...

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8th International Hybrid Power Plants & Systems Workshop (HYB 2024)

作者： Jon Martinez-Rico Florin Iov Jose Luis Azpeitia Ismael Ruiz de Argandoña Mikel Armendia Automation and Control Unit Tekniker Eibar Spain Energy Department Aalborg University Aalborg Denmark

ISBN: (数字)9781837241484

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Investigating Visual Localization Using Geospatial Meshes 8

Investigating Visual Localization Using Geospatial Meshes

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8th International ISPRS Workshop LowCost 3D - Sensors, Algorithms, Applications

作者： Vultaggio, Francesco Fanta-Jende, Phillipp Schörghuber, Matthias Kern, Alexander Gerke, Markus Austrian Institute of Technology Center for Vision Automation and Control Unit Assistive and Autonomous Systems Austria Technische Universität Braunschweig Institute of Flight Guidance Germany Technische Universität Braunschweig Institute of Geodesy and Photogrammetry Germany

This paper investigates the use of geospatial mesh data for visual localization, focusing on city-scale aerial meshes as map representations for locating ground-level query images captured by smartphones. Visual localization, essential for applications such as robotics and augmented reality, traditionally relies on Structure-from-Motion (SfM) reconstructions or image collections as maps. However, mesh-based approaches offer dense spatial representation, memory efficiency, and real-time rendering capabilities. In this work, we evaluate initialization strategies, image matching techniques, and pose refinement methods for mesh-based localization pipelines, comparing the performance of both traditional and deep-learning-based techniques in image matching between real and synthetic views. We created a dataset from nadir and oblique aerial imagery and accurately georeferenced smartphone images to test cross-modal localization. Our findings demonstrate that combining global feature retrieval with GNSS-based spatial filtering yields significant improvements in accuracy and efficiency, achieving submeter positional and subdegree rotational errors. This study advances scalable visual localization using meshes and highlights the potential of integrating smartphone GNSS data for improved performance in urban environments. Copyright: © 2024 Francesco Vultaggio et al.

关键词： Mesh generation

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Visual localization in urban environments employing 3D city models 8

Visual localization in urban environments employing 3D city ...

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8th International ISPRS Workshop LowCost 3D - Sensors, Algorithms, Applications

作者： Loeper, Yasmin Gerke, Markus Alamouri, Ahmed Kern, Alexander Bajauri, Mohammad Shafi Fanta-Jende, Phillipp Institute of Geodesy and Photogrammetry Technische Universität Braunschweig Brunswick Germany Institute of Flight Guidance Technische Universität Braunschweig Brunswick Germany Unit Assistive and Autonomous Systems Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria

Reliable pose information is essential for many applications, such as for navigation or surveying tasks. Though GNSS is a well-established technique to retrieve that information, it often fails in urban environments due to signal occlusion or multi-path effects. In addition, GNSS might be subject to jamming or spoofing, which requires an alternative, complementary positioning method. We introduce a visual localization method which employs building models according to the CityGML standard. In contrast to the most commonly used sources for scene representation in visual localization, such as structure-from-motion (SfM) points clouds, CityGML models are already freely available for many cites worldwide, do not require a large amount of memory and the scene representation database does not have to be generated from images. Yet, 3D models are rarely used because they usually lack properties such as texture or only contain general geometric structures. Our approach utilizes the boundary representation (BREP) of the CityGML models in Level of Detail (LOD) 2 and the geometry of the query image scene from extracted straight line segments. We investigate how we can use an energy function to determine the quality of the correspondence between the line segments of the query image and the projected line segments of the CityGML model based on a specific camera pose. This is then optimized to estimate the camera pose of the query image. We show that a rough estimation of the camera pose is possible purely via the distribution of the line segments and without prior calculation of features and their descriptors. Furthermore, many possibilities and approaches for improvements remain open. However, if these approaches are taken into account, we expect CityGML models to be a promising option for scene representation in visual localization. Copyright: © 2024 Yasmin Loeper et al.

关键词： Bayesian networks

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Video Streaming Protocols Comparison in Field Experiments for Aerial Teleoperation

Video Streaming Protocols Comparison in Field Experiments fo...

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Mechanical Engineering and Robotics Research (ICMERR), International Conference on

作者： Manuel J. Fernandez Riccardo Franceschini Julian Cayero Becerra Matteo Fumagalli Department of Electrical Engineering Automation and Control Technical University of Denmark Kongens Lyngby Denmark Robotics and Automation Unit Eurecat Technology Center of Catalunya Cerdanyola del Vallès Barcelona Spain

ISBN: (数字)9798331509262

ISBN: (纸本)9798331509279

关键词： Wireless communication Transport protocols Visualization Protocols Streaming media Throughput Real-time systems Stability analysis Reliability Robots

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