188 research outputs found

    Soft Computing approaches in ocean wave height prediction for marine energy applications

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    El objetivo de esta tesis consiste en investigar el uso de técnicas de Soft Computing (SC) aplicadas a la energía producida por las olas o energía undimotriz. Ésta es, entre todas las energías marinas disponibles, la que exhibe el mayor potencial futuro porque, además de ser eficiente desde el punto de vista técnico, no causa problemas ambientales significativos. Su importancia práctica radica en dos hechos: 1) es aproximadamente 1000 veces más densa que la energía eólica, y 2) hay muchas regiones oceánicas con abundantes recursos de olas que están cerca de zonas pobladas que demandan energía eléctrica. La contrapartida negativa se encuentra en que las olas son más difíciles de caracterizar que las mareas debido a su naturaleza estocástica. Las técnicas SC exhiben resultados similares e incluso superiores a los de otros métodos estadísticos en las estimaciones a corto plazo (hasta 24 h), y tienen la ventaja adicional de requerir un esfuerzo computacional mucho menor que los métodos numérico-físicos. Esta es una de las razones por la que hemos decidido explorar el uso de técnicas de SC en la energía producida por el oleaje. La otra se encuentra en el hecho de que su intermitencia puede afectar a la forma en la que se integra la electricidad que genera con la red eléctrica. Estas dos son las razones que nos han impulsado a explorar la viabilidad de nuevos enfoques de SC en dos líneas de investigación novedosas. La primera de ellas es un nuevo enfoque que combina un algoritmo genético (GA: Genetic Algorithm) con una Extreme Learning Machine (ELM) aplicado a un problema de reconstrucción de la altura de ola significativa (en un boya donde los datos se han perdido, por ejemplo, por una tormenta) utilizando datos de otras boyas cercanas. Nuestro algoritmo GA-ELM es capaz de seleccionar un conjunto reducido de parámetros del oleaje que maximizan la reconstrucción de la altura de ola significativa en la boya cuyos datos se han perdido utilizando datos de boyas vecinas. El método y los resultados de esta investigación han sido publicados en: Alexandre, E., Cuadra, L., Nieto-Borge, J. C., Candil-García, G., Del Pino, M., & Salcedo-Sanz, S. (2015). A hybrid genetic algorithm—extreme learning machine approach for accurate significant wave height reconstruction. Ocean Modelling, 92, 115-123. La segunda contribución combina conceptos de SC, Smart Grids (SG) y redes complejas (CNs: Complex Networks). Está motivada por dos aspectos importantes, mutuamente interrelacionados: 1) la forma en la que los conversores WECs (wave energy converters) se interconectan eléctricamente para formar un parque, y 2) cómo conectar éste con la red eléctrica en la costa. Ambos están relacionados con el carácter aleatorio e intermitente de la energía eléctrica producida por las olas. Para poder integrarla mejor sin afectar a la estabilidad de la red se debería recurrir al concepto Smart Wave Farm (SWF). Al igual que una SG, una SWF utiliza sensores y algoritmos para predecir el olaje y controlar la producción y/o almacenamiento de la electricidad producida y cómo se inyecta ésta en la red. En nuestro enfoque, una SWF y su conexión con la red eléctrica se puede ver como una SG que, a su vez, se puede modelar como una red compleja. Con este planteamiento, que se puede generalizar a cualquier red formada por generadores renovables y nodos que consumen y/o almacenan energía, hemos propuesto un algoritmo evolutivo que optimiza la robustez de dicha SG modelada como una red compleja ante fallos aleatorios o condiciones anormales de funcionamiento. El modelo y los resultados han sido publicados en: Cuadra, L., Pino, M. D., Nieto-Borge, J. C., & Salcedo-Sanz, S. (2017). Optimizing the Structure of Distribution Smart Grids with Renewable Generation against Abnormal Conditions: A Complex Networks Approach with Evolutionary Algorithms. Energies, 10(8), 1097

    Advances in Intelligent Robotics and Collaborative Automation

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    This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

    Competitive power control of distributed power plants

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    Joint Doctoral Programme in Electric Energy Systems : Universidad de Málaga, Universidad de Sevilla, Universidad del País Vasco y Universitat Politècnica de CatalunyaNowadays, the electrical energy sector is currently found in a dramatic changing paradigm, which moves towards an increasing trend in generating power at distribution levels, where electricity is typically consumed, by means of non-conventional/renewable based generation units. These new generation technologies, termed as distributed generation, not only offers a non-pollutant, cheap and efficient source of energy to cover increasing demand, but also enhance the reliability of supply to critical loads and reduce the need for additional grid reinforcements. Aside of the technical benefits provided, distributed generation will massively integrate renewable energy resources, with new type of loads and end-user actors, such as prosumers, demand responsive loads, or electric vehicles. Where these actors will actively participate in energy and auxiliary service markets, depending on their available or constrained energy needs. For this reason, the work presented in this Thesis deals with designing and implementing advanced hierarchical control solutions to renewable-based power plants with the purpose of achieving advanced grid conection performance while reaching maximum economic benefits from its optimum real-time operation. Initially, an extensive analysis on the main renewable-based power plant hierarchical control solutions currently on the shelf, is performed. This study not only covered the specific case of renewable-based power plants, but also advanced microgrid and smart grid control solutions. Once the main renewable-based power plant hierarchical solutions were analized, a novel Hierarchical Distributed Control Structure (HDCS) is proposed for increased management of renewable-based active distributed plants. This hierarchical control structure comprises all possible functional levels from the higher long-term economic scheduling layer, to the instantaneous supervisory control of the resource, emphasizing the entire operation and control functionalities needed for increasing the integration of active distributed power plants. In order to achieve real-time control capabilities in active distribution systems, the present thesis introduces a novel power sharing control strategy, based on the competitive operation of multiple active participating agents (distributed generators, demand response and energy storage systems) through the implementation of market rules. Such control capabilities are satisfied by applying a price control signal over the entire grid control architecture, being the final-end participating agent, the responsible entity in charge of deciding its own generation/demand involvement based on its marginal or affordable electricity costs. In addition, it reduces the information volume to be transmitted and processing requirements, as the higher control levels do not need to have knowledge on the detailed distribution system topology and contributing actors. In order to have a meaningful evaluation of the proposed competitive control capabilities, a wave power plant application has been selected, which constitutes a challenging scenario for the controller itself to achieve advanced real-time control capabilities in such an oscillating renewable energy resource. In order to suitably characterize the wave energy resource profile resulting from maximum energy absorption, this Thesis introduce a novel adaptive vector controller, which maximizes the energy extraction from the resource regardless of the dominant irregular wave frequency characteristics. For the specific wave power plant application considered, the competitive control does not only ensures real-time optimum resource allocation for satisfying a given production objective, but also provides optimum long term operation of the system. As a result, overall plant costs reductions can be achieved under the competitive operation, since the plant scheduled energy is satisfied by making use of the generation units with cheaper cumulative operation costsActualmente, el sector eléctrico se encuentra inmerso en un profundo proceso de restructuración, donde de cada vez más se tiende a generar energía a nivel de distribución, mediante el uso de generación no convencional/renovable. Estas nuevas tecnologías de generación, referidas como generación distribuida, no proporcionan unicamente una fuente de energía no-contaminante, barata y eficiente para cubrir el incremento de demanda, sinó que también pueden proporcionar seguridad de suministro a cargas críticas, así como reducir la necesidad de expansiones futuras de red. Además de las capacidades técnicas proporcionadas, la generación distribuida hará posible la integración masiva de sistemas de generación renovable, con nuevos tipos de cargas y usuarios finales, como prosumidores, cargas regulables, o vehiculos eléctricos, donde todos estos usuarios participaran activamente en mercados de energía y servicios auxiliares, dependiendo de sus requisitos de uso de energía. Por lo tanto, el trabajo realizado en esta tesis se centra en el diseño e implementación de soluciones jerárquicas de control avanzado en plantas de generación renovable, con el objetivo de obtener un comportamiento harmonioso de intercacción con la red, mientras la operación de la planta maximiza los beneficios derivados de su operación en tiempo real. Inicialmente, se ha llevado a cabo una revisión extensa sobre los sistemas de control jerárquico comunmente implementados en plantas de generación renovable, en microredes y en redes inteligentes. Una vez revisados los principales sistemas de control jerárquico en este tipo de aplicaciones, se propone un una novedosa estructura de control, que cubre todos los niveles de control posibles, desde el más alto nivel de gestión económica, hasta el control detallado del recurso de generación. Para lograr capacidades de control en tiempo real en sistemas activos de distribución, la presente tesis propone una nueva estrategia de control de reparto de potencia, basada en la operación competitiva de múltiples agentes participantes activos (generadores distribuidos, respuesta de demanda y sistemas de almacenamiento de energía) mediante la implementación de reglas del mercado. Dichas capacidades de control se satisfacen aplicando una señal de precio a lo largo de toda la arquitectura de control, siendo el agente de final, el ente responsable de decidir su propia participación en la generación/demanda en función de sus propios costes de electricidad marginales o asumibles. Además, reduce el volumen de información a transmitir y los requisitos de procesamiento de datos, ya que los niveles de control más altos no necesitan tener conocimiento sobre la topología del sistema de distribución detallado ni de la contribución de los actores adyacentes. Para llevar a cabo una evaluación significativa de las capacidades del controlador competitivo propuesto, se ha seleccionado una planta de generación undimotriz, como escenario más desfavorable, ya que el controlador debe asegurar un control estable de la potencia inyectada en un escenario altamente oscilante. Con el fin de caracterizar adecuadamente el perfil de recursos de energía de las olas resultante de la máxima absorción de energía, esta Tesis introduce un nuevo controlador de vector adaptativo, que maximiza la extracción de energía del recurso independientemente de las características dominantes de frecuencia de onda irregular. Para la aplicación de la planta de energía de onda específica considerada, el control competitivo no solo garantiza la asignación óptima de recursos en tiempo real para satisfacer un objetivo de producción dado, sino que también proporciona una operación óptima del sistema a largo plazo. Como resultado, se pueden lograr reducciones generales de los costos de la planta en el marco de la operación competitiva, ya que la energía programada de la planta se satisface haciendo uso de las unidadPostprint (published version

    Renewable Energies for Sustainable Development

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    In the current scenario in which climate change dominates our lives and in which we all need to combat and drastically reduce the emission of greenhouse gases, renewable energies play key roles as present and future energy sources. Renewable energies vary across a wide range, and therefore, there are related studies for each type of energy. This Special Issue is composed of studies integrating the latest research innovations and knowledge focused on all types of renewable energy: onshore and offshore wind, photovoltaic, solar, biomass, geothermal, waves, tides, hydro, etc. Authors were invited submit review and research papers focused on energy resource estimation, all types of TRL converters, civil infrastructure, electrical connection, environmental studies, licensing and development of facilities, construction, operation and maintenance, mechanical and structural analysis, new materials for these facilities, etc. Analyses of a combination of several renewable energies as well as storage systems to progress the development of these sustainable energies were welcomed

    Reactive evolutionary path planning for autonomous surface vehicles in lake environments.

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    Autonomous Surface Vehicles (ASVs) have found a lot of promising applications in aquatic environments, i.e., sea, lakes, rivers, etc. They can be used for applications of paramount importance, such as environmental monitoring of water resources, and for bathymetry to study the characteristics of the basing of a lake/sea or for surveillance in patrol missions, among others. These vehicles can be built with smaller dimensions when compared to regular ships since they do not need an on-board crew for operation. However, they do require at least a telemetry control as well as certain intelligence for making decisions and responding to changing scenarios. Water resources are very important in Paraguay since they provide fresh water for its inhabitants and they are crucial for the main economic activities such as agriculture and cattle raising. Furthermore, they are natural borders with the surrounding countries, and consequently the main transportation route for importing/exporting products. In fact, Paraguay is the third country in the world with the largest fleet of barges after USA and China. Thus, maintaining and monitoring the environmental conditions of these resources is key in the development of the country. This work is focused on the maintenance and monitoring of the greatest lake of the country called Ypacarai Lake. In recent years, the quality of its water has been seriously degraded due to the pollution caused by the low control of the dumping of waste thrown into the Lake. Since it is also a national icon, the government of Paraguay has put a lot of effort in recovering water quality of the Lake. As a result, it is monitored periodically but using manual procedures. Therefore, the primary objective of this work is to develop these monitoring tasks autonomously by means of an ASV with a suitable path planning strategy. Path planning is an active research area in robotics. A particular case is the Coverage Path Planning (CPP) problem, where an algorithm should find a path that achieves the best coverage of the target region to be monitored. This work mainly studies the global CPP, which returns a suitable path considering the initial conditions of the environment where the vehicle moves. The first contribution of this thesis is the modeling of the CPP using Hamiltonian Circuits (HCs) and Eulerian Circuits (ECs). Therefore, a graph adapted to the Ypacarai Lake is created by using a network of wireless beacons located at the shore of the lake, so that they can be used as data exchange points between a control center and the ASV, and also as waypoints. Regarding the proposed modeling, HCs and ECs are paths that begin and end at the same point. Therefore, the ASV travels across a given graph that is defined by a set of wireless beacons. The main difference between HC and EC is that a HC is a tour that visits each vertex only once while EC visits each edge only once. Finding optimal HCs or ECs that minimize the total distance traveled by the ASV are very complex problems known as NP-complete. To solve such problems, a meta-heuristic algorithm can be a suitable approach since they provide quasi-optimal solutions in a reasonable time. In this work, a GA (Genetic Algorithm) approach is proposed and tested. First, an evaluation of the performance of the algorithm with different values of its hyper-parameters has been carried out. Second, the proposed approach has been compared to other approaches such as randomized and greedy algorithms. Third, a thorough comparison between the performance of HC and EC based approaches is presented. The simulation results show that EC-based approach outperforms the HC-based approach almost 2% which in terms of the Lake size is about 1.4 km2 or 140 ha (hectares). Therefore, it has been demonstrated that the modeling of the problem as an Eulerian graph provides better results. Furthermore, it has been investigated the relationship between the number of beacons to be visited and the distance traveled by the ASV in the EC-based approach. Findings indicate that there is a quasi-lineal relationship between the number of beacons and the distance traveled. The second contribution of this work is the development of an on-line learning strategy using the same model but considering dynamic contamination events in the Lake. Dynamic events mean the appearance and evolution of an algae bloom, which is a strong indicator of the degradation of the lake. The strategy is divided into two-phases, the initial exploration phase to discover the presence of the algae bloom and next the intensification phase to focus on the region where the contamination event is detected. This intensification effect is achieved by modifying the beacon-based graph, reducing the number of vertices and selecting those that are closer to the region of interest. The simulation results reveal that the proposed strategy detects two events and monitors them, keeping a high level of coverage while minimizing the distance traveled by the ASV. The proposed scheme is a reactive path planning that adapts to the environmental conditions. This scheme makes decisions in an autonomous way and it switches from the exploratory phase to the intensification phase depending on the external conditions, leading to a variable granularity in the monitoring task. Therefore, there is a balance between coverage and the energy consumed by the ASV. The main benefits obtained from the second contribution includes a better monitoring in the quality of water and control of waste dumping, and the possibility to predict the appearance of algae-bloom from the collected environmental data

    Advances in Intelligent Robotics and Collaborative Automation

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    This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

    Competitive power control of distributed power plants

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    Nowadays, the electrical energy sector is currently found in a dramatic changing paradigm, which moves towards an increasing trend in generating power at distribution levels, where electricity is typically consumed, by means of non-conventional/renewable based generation units. These new generation technologies, termed as distributed generation, not only offers a non-pollutant, cheap and efficient source of energy to cover increasing demand, but also enhance the reliability of supply to critical loads and reduce the need for additional grid reinforcements. Aside of the technical benefits provided, distributed generation will massively integrate renewable energy resources, with new type of loads and end-user actors, such as prosumers, demand responsive loads, or electric vehicles. Where these actors will actively participate in energy and auxiliary service markets, depending on their available or constrained energy needs. For this reason, the work presented in this Thesis deals with designing and implementing advanced hierarchical control solutions to renewable-based power plants with the purpose of achieving advanced grid conection performance while reaching maximum economic benefits from its optimum real-time operation. Initially, an extensive analysis on the main renewable-based power plant hierarchical control solutions currently on the shelf, is performed. This study not only covered the specific case of renewable-based power plants, but also advanced microgrid and smart grid control solutions. Once the main renewable-based power plant hierarchical solutions were analized, a novel Hierarchical Distributed Control Structure (HDCS) is proposed for increased management of renewable-based active distributed plants. This hierarchical control structure comprises all possible functional levels from the higher long-term economic scheduling layer, to the instantaneous supervisory control of the resource, emphasizing the entire operation and control functionalities needed for increasing the integration of active distributed power plants. In order to achieve real-time control capabilities in active distribution systems, the present thesis introduces a novel power sharing control strategy, based on the competitive operation of multiple active participating agents (distributed generators, demand response and energy storage systems) through the implementation of market rules. Such control capabilities are satisfied by applying a price control signal over the entire grid control architecture, being the final-end participating agent, the responsible entity in charge of deciding its own generation/demand involvement based on its marginal or affordable electricity costs. In addition, it reduces the information volume to be transmitted and processing requirements, as the higher control levels do not need to have knowledge on the detailed distribution system topology and contributing actors. In order to have a meaningful evaluation of the proposed competitive control capabilities, a wave power plant application has been selected, which constitutes a challenging scenario for the controller itself to achieve advanced real-time control capabilities in such an oscillating renewable energy resource. In order to suitably characterize the wave energy resource profile resulting from maximum energy absorption, this Thesis introduce a novel adaptive vector controller, which maximizes the energy extraction from the resource regardless of the dominant irregular wave frequency characteristics. For the specific wave power plant application considered, the competitive control does not only ensures real-time optimum resource allocation for satisfying a given production objective, but also provides optimum long term operation of the system. As a result, overall plant costs reductions can be achieved under the competitive operation, since the plant scheduled energy is satisfied by making use of the generation units with cheaper cumulative operation costsActualmente, el sector eléctrico se encuentra inmerso en un profundo proceso de restructuración, donde de cada vez más se tiende a generar energía a nivel de distribución, mediante el uso de generación no convencional/renovable. Estas nuevas tecnologías de generación, referidas como generación distribuida, no proporcionan unicamente una fuente de energía no-contaminante, barata y eficiente para cubrir el incremento de demanda, sinó que también pueden proporcionar seguridad de suministro a cargas críticas, así como reducir la necesidad de expansiones futuras de red. Además de las capacidades técnicas proporcionadas, la generación distribuida hará posible la integración masiva de sistemas de generación renovable, con nuevos tipos de cargas y usuarios finales, como prosumidores, cargas regulables, o vehiculos eléctricos, donde todos estos usuarios participaran activamente en mercados de energía y servicios auxiliares, dependiendo de sus requisitos de uso de energía. Por lo tanto, el trabajo realizado en esta tesis se centra en el diseño e implementación de soluciones jerárquicas de control avanzado en plantas de generación renovable, con el objetivo de obtener un comportamiento harmonioso de intercacción con la red, mientras la operación de la planta maximiza los beneficios derivados de su operación en tiempo real. Inicialmente, se ha llevado a cabo una revisión extensa sobre los sistemas de control jerárquico comunmente implementados en plantas de generación renovable, en microredes y en redes inteligentes. Una vez revisados los principales sistemas de control jerárquico en este tipo de aplicaciones, se propone un una novedosa estructura de control, que cubre todos los niveles de control posibles, desde el más alto nivel de gestión económica, hasta el control detallado del recurso de generación. Para lograr capacidades de control en tiempo real en sistemas activos de distribución, la presente tesis propone una nueva estrategia de control de reparto de potencia, basada en la operación competitiva de múltiples agentes participantes activos (generadores distribuidos, respuesta de demanda y sistemas de almacenamiento de energía) mediante la implementación de reglas del mercado. Dichas capacidades de control se satisfacen aplicando una señal de precio a lo largo de toda la arquitectura de control, siendo el agente de final, el ente responsable de decidir su propia participación en la generación/demanda en función de sus propios costes de electricidad marginales o asumibles. Además, reduce el volumen de información a transmitir y los requisitos de procesamiento de datos, ya que los niveles de control más altos no necesitan tener conocimiento sobre la topología del sistema de distribución detallado ni de la contribución de los actores adyacentes. Para llevar a cabo una evaluación significativa de las capacidades del controlador competitivo propuesto, se ha seleccionado una planta de generación undimotriz, como escenario más desfavorable, ya que el controlador debe asegurar un control estable de la potencia inyectada en un escenario altamente oscilante. Con el fin de caracterizar adecuadamente el perfil de recursos de energía de las olas resultante de la máxima absorción de energía, esta Tesis introduce un nuevo controlador de vector adaptativo, que maximiza la extracción de energía del recurso independientemente de las características dominantes de frecuencia de onda irregular. Para la aplicación de la planta de energía de onda específica considerada, el control competitivo no solo garantiza la asignación óptima de recursos en tiempo real para satisfacer un objetivo de producción dado, sino que también proporciona una operación óptima del sistema a largo plazo. Como resultado, se pueden lograr reducciones generales de los costos de la planta en el marco de la operación competitiva, ya que la energía programada de la planta se satisface haciendo uso de las unida

    Study of Requirements and Design of Sensors for Monitoring Water Quality and Feeding Process in Fish Farms and Other Environments

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    Se están realizando muchos esfuerzos en la acuicultura para alcanzar la sostenibilidad, sin embargo aún está lejos de ser sostenible. Sus impactos sobre el medio ambiente pueden prevenirse y corregirse mediante el uso de sensores, desarrollando la conocida como acuicultura de precisión. La calidad del agua afecta el rendimiento de los peces. La temperatura y la salinidad son algunos factores que afectan al crecimiento de los peces. Sin embargo, otros factores como la turbidez, el fotoperíodo y el oxígeno disuelto entre otros pueden afectar a las necesidades nutritivas de los peces. Ajustar la cantidad de alimento necesario es crucial para garantizar la sostenibilidad de la acuicultura y para aumentar el beneficio económico de las instalaciones. Al monitorear la calidad del agua, es posible estimar las necesidades de alimentación. Sin embargo, no es suficiente. El monitoreo del comportamiento de los peces, especialmente durante el período de alimentación, puede ayudar a adaptar el alimento proporcionado. Entonces, si está tan claro que el monitoreo puede ayudar a la producción acuícola, ¿por qué no vemos este sistema de monitoreo en las instalaciones acuícolas? ¿Por qué en la mayoría de las instalaciones la alimentación se da manualmente sin considerar el comportamiento de alimentación de los peces? El precio de los sensores para monitorizar las piscifactorías es extremadamente alto. Los sensores empleados son, en la mayoría de los casos, los mismos que se utilizan para la oceanografía. Los sistemas propuestos en la literatura cubren pocos parámetros de calidad del agua y generalmente no consideran el comportamiento de alimentación de los peces. Son necesarios sensores de bajo costo adecuados para la monitorización de la acuicultura. Esos sensores deben ser de bajo costo, bajo consumo de energía, fáciles de usar y con la posibilidad de incluirlos en una red para enviar los datos. Por lo tanto, podremos utilizar esta red de sensores y sensores para controlar la actividad, enviar alarmas si es necesario y automatizar los procesos. Además, si incluimos Internet, los datos se pueden ver de forma remota. El uso de esos sensores puede ayudar a la producción acuícola. En esta tesis mostramos el estudio de los requisitos y el diseño de sensores para monitorizar la calidad del agua y el proceso de alimentación en piscifactorías y otros entornos. Primero estudiamos en detalle los requisitos de los sensores en acuicultura. Luego mostramos el estado del arte de los sensores actuales para el monitoreo de la calidad del agua y para el monitoreo de la acuicultura. A continuación, presentamos el diseño y desarrollo de nuestros propios sensores de bajo costo y su aplicación en instalaciones de piscifactorías con sistema abierto y sistema de recirculación. Además, mostramos la posibilidad de monitorizar hasta 10 parámetros incluyendo calidad del agua (temperatura, salinidad, turbidez y presencia de hidrocarburo / capa de aceite), ambiente del tanque (nivel de agua, iluminación, presencia de trabajadores) y comportamiento de alimentación de peces (profundidad de natación de bajura, estimación de los cambios en la velocidad de nado de bajíos y la caída de alimento). El sistema propuesto, capaz de monitorear todos estos parámetros, tiene un bajo coste y bajo consumo de energía. El precio estimado es inferior a 100 € por tanque. Además, mostramos el uso de algunos de los sensores antes mencionados para el ajuste automático del proceso de alimentación de peces. Finalmente, mostramos como algunos de los sensores desarrollados se utilizan en otras áreas acuáticas naturales como manglares y estuarios. Además, se presenta un sistema inteligente para monitorear y rastrear la contaminación en los cuerpos de agua.There are many efforts done in the aquaculture to reach its sustainability, although in reality, it is far from being sustainable. Its negative impacts on the environment can be prevented and corrected by the use of sensors, developing precision aquaculture. The water quality affects to the fish performance. The temperature and salinity are some factors that affect to the fish growth. Nevertheless, other factors such as turbidity, photoperiod and dissolved oxygen among other can affect to the fish feeding needs. To adjust the amount of feed needed is crucial to ensure the sustainability of the aquaculture and to increase the economic profit of the facilities. Monitoring the water quality allows estimating the feed needs. However, it is not enough. To monitor the fish behavior, especially during the feeding period can help to adapt the provided feed. Then, if it is so clear that the monitoring can help to the aquaculture production, why we do not see this monitoring systems in the aquaculture facilities? Why in most of the facilities the feed is given manually without considering the fish feeding behavior? Nevertheless, the current price of the sensors for monitoring the fish farms is extremely high. The employed sensors are in most of the cases, the same that are used for oceanography. The proposed systems in the literature only cover some water quality parameters and usually do not consider fish feeding behavior. It is need low-cost sensors suitable for aquaculture monitoring. Those sensors must also be low-energy consumption, easy to use and with the option to include them in a network in order to send the data. Thus, we can use these sensors and sensors network to monitor the activity, to send alarms if it is necessary and to automatize processes. Moreover, including Internet, the data can be seen remotely. The use of those sensors can help to the aquaculture production. In this thesis, we show the study of requirements and design of sensors for monitoring water quality and feeding process in fish farms and other environments. First, we study in detail the requirements of sensors in aquaculture. Then, we show the state of the art of the current sensors for water quality monitoring and for aquaculture monitoring. Following, we present the design and development of some low-cost sensors and their applications in fish farm facilities with open system and recirculating system. Moreover we show a complete system which monitors up to 10 parameters including water quality (temperature, salinity, turbidity and presence of hydrocarbon/oil layer), tank environment (water level, illumination, presence of workers), and fish feeding behavior (shoal swimming depth, estimation of changes on shoal swimming velocity and feed falling). Moreover, it accomplishes the features of low-cost and low energy consumption. The estimated price for proposed system is less than 100€ per tank. In addition, we show the use of some of the aforementioned sensors for automatic adjustment of fish feeding process. Finally, some of the developed sensors are plied in other natural aquatic areas such as mangroves, and estuaries. Moreover, an intelligent system for pollution monitoring and tracking in water bodies are presented.S'estan realitzant molts esforços en l'aqüicultura per assolir la sostenibilitat, malgrat això, encara està lluny de ser sostenible. Els seus impactes sobre el medi ambient es poden prevenir i corregir mitjançant l'ús de sensors, desenvolupant la coneguda com a aqüicultura de precisió. La qualitat de l'aigua afecta el rendiment dels peixos. La temperatura i la salinitat són alguns factors que afecten el creixement dels peixos. A més a més, altres factors com la terbolesa, el fotoperíode i l'oli dissolt entre uns altres poden afectar a les necessitats nutritives dels peixos. Ajustar la quantitat d'aliment necessari és crucial per garantir la sostenibilitat de l'aqüicultura i per augmentar el benefici econòmic de les instal·lacions. Al monitoritzar la qualitat de l'aigua, és possible estimar les necessitats d'alimentació. No obstant això, no és suficient. Monitoritzar el comportament dels peixos, especialment durant el període d'alimentació, pot ajudar a adaptar el subministrament alimentari. Aleshores, si es tan clar que el monitoratge pot ajudar a la producció aqüícola, per què no veiem aquest sistema de monitoratge en les instal·lacions aquàtiques? Per què a la majoria de les instal·lacions la alimentació es dóna manualment sense considerar el comportament alimentari dels peixos? El preu dels sensors per controlar les piscifactories és extremadament alt. Els sensors empleats són, en la majoria dels casos, els mateixos que es fan servir per a l'oceanografia. Els sistemes proposats en la literatura monitoritzen pocs paràmetres de qualitat de l'aigua i generalment no consideren el comportament dels peixos durant l'alimentació. Són necessaris sensors de baix cost adequats per a la monitorització de l'aqüicultura. Aquests sensors han de ser de baix cost, baix consum d'energia, senzills d'usar i amb la possibilitat d'incloure'ls en una xarxa per enviar-los. Per tant, podrem utilitzar aquesta xarxa de sensors i sensors per controlar l'activitat, enviar alarmes si és necessari i automatitzar els processos. A més, si incloem Internet, les dades es podran veure de forma remota. L'ús d'aquests sensors pot ajudar a la producció aqüícola. En aquesta tesi es mostra l'estudi dels requisits i el disseny de sensors per a monitoritzar la qualitat de l'aigua i el procés d'alimentació en piscifactories i altres entorns. Primer, estudiem en detall els requisits dels sensors en aqüicultura. A continuació, es mostra el estat de l'art dels sensors actuals per al monitoratge de la qualitat de l'aigua i per al monitoratge de l'aqüicultura. A continuació, presentem el disseny i desenvolupament dels nostres propis sensors de baix cost i la seva aplicació en instal·lacions d'aqüicultura amb sistema obert i sistema de recirculació. A més, mostrem la possibilitat de monitoritzar fins a 10 paràmetres, incloent-hi la qualitat de l'aigua (temperatura, salinitat, terbolesa i presència d'hidrocarburs / capa d'oli), ambient del tanc (nivell d'aigua, il·luminació, presència de treballadors) i alimentació del consum de peces (profunditat de natació de baix, estimació dels canvis en la velocitat de naixement de baixos i la caiguda d'aliment). El sistema proposat, capaç de controlar tots aquests paràmetres, té un baix cost i baix consum d'energia. El preu estimat és inferior a 100 € per tanc. A més, mostrem l'ús d'alguns dels sensors abans esmentats per a l'ajust automàtic del procés d'alimentació de peces. Finalment, mostrem com alguns dels sensors desenvolupats es fan servir en altres àrees aquàtiques naturals com manglars i estuaris. A més, es presenta un sistema intel·ligent per monitoritzar i rastrejar la contaminació en els cossos d'aigua.Parra Boronat, L. (2018). Study of Requirements and Design of Sensors for Monitoring Water Quality and Feeding Process in Fish Farms and Other Environments [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/106369TESI

    EFFICIENT DYNAMIC ADDRESSING BASED ROUTING FOR UNDERWATER WIRELESS SENSOR NETWORKS

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    This thesis presents a study about the problem of data gathering in the inhospitable underwater environment. Besides long propagation delays and high error probability, continuous node movement also makes it difficult to manage the routing information during the process of data forwarding. In order to overcome the problem of large propagation delays and unreliable link quality, many algorithms have been proposed and some of them provide good solutions for these issues, yet continuous node movements still need attention. Considering the node mobility as a challenging task, a distributed routing scheme called Hop-by-Hop Dynamic Addressing Based (H2- DAB) routing protocol is proposed where every node in the network will be assigned a routable address quickly and efficiently without any explicit configuration or any dimensional location information. According to our best knowledge, H2-DAB is first addressing based routing approach for underwater wireless sensor networks (UWSNs) and not only has it helped to choose the routing path faster but also efficiently enables a recovery procedure in case of smooth forwarding failure. The proposed scheme provides an option where nodes is able to communicate without any centralized infrastructure, and a mechanism furthermore is available where nodes can come and leave the network without having any serious effect on the rest of the network. Moreover, another serious issue in UWSNs is that acoustic links are subject to high transmission power with high channel impairments that result in higher error rates and temporary path losses, which accordingly restrict the efficiency of these networks. The limited resources have made it difficult to design a protocol which is capable of maximizing the reliability of these networks. For this purpose, a Two-Hop Acknowledgement (2H-ACK) reliability model where two copies of the same data packet are maintained in the network without extra burden on the available resources is proposed. Simulation results show that H2-DAB can easily manage during the quick routing changes where node movements are very frequent yet it requires little or no overhead to efficiently complete its tasks

    Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles

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    Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution February 2015The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.Government support under and awarded by DoD, Air Force Office of Scientific Research, NDSEG Fellowship, 32 CFR 168a, U.S. Office of Naval Research (ONR) GOATS ’11 (N00014-11-1-0097) and GOATS ’14 (N00014-14-1-0214) projects, ONR TechSolutions Program Office (Lightweight NSW UUV program)—Technical Support, Naval Undersea Warfare Center (NUWC) Division, Newport (Code 25)—Technical Support and Logistic
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