Medium voltage DC power systems on ships: An offline parameter estimation for tuning the controllers' linearizing function

Future shipboard power systems using Medium Voltage Direct (MVDC) technology will be based on a widespread use of power converters for interfacing generating systems and loads with the main DC bus. Such a heavy exploitation makes the voltage control challenging in the presence of tightly controlled converters. By modeling the latter as constant power loads (CPLs), one possibility to ensure the bus voltage stability is offered by the linearizing via state feedback technique, whose aim is to regulate the generating DC-DC power converters to compensate for the destabilizing effect of the CPLs. Although this method has been shown to be effective when system parameters are perfectly known, only a partial linearization can be ensured in case of parameter mismatch, thus, jeopardizing the system stability. In order to improve the linearization, therefore, guaranteeing the voltage stability, an estimation method is proposed in this paper. To this aim, offline tests are performed to provide the input data for the estimation of model parameters. Such estimated values are subsequently used for correctly tuning the linearizing function of the DC-DC converters. Simulation results for bus voltage transients show that in this way converters become sources of stabilizing power

Stochastic diffusion search review

Stochastic Diffusion Search, first incepted in 1989, belongs to the extended family of swarm intelligence algorithms. In contrast to many nature-inspired algorithms, stochastic diffusion search has a strong mathematical framework describing its behaviour and convergence. In addition to concisely exploring the algorithm in the context of natural swarm intelligence systems, this paper reviews various developments of the algorithm, which have been shown to perform well in a variety of application domains including continuous optimisation, implementation on hardware and medical imaging. This algorithm has also being utilised to argue the potential computational creativity of swarm intelligence systems through the two phases of exploration and exploitatio

Self-adaptive online virtual network migration in network virtualization environments

This is the peer reviewed version of the following article: Zangiabady, M, Garcia‐Robledo, A, Gorricho, J‐L, Serrat‐Fernandez, J, Rubio‐Loyola, J. Self‐adaptive online virtual network migration in network virtualization environments. Trans Emerging Tel Tech. 2019; 30:e3692. https://doi.org/10.1002/ett.3692, which has been published in final form at https://doi.org/10.1002/ett.3692. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Self-Archiving.In Network Virtualization Environments, the capability of operators to allocate resources in the Substrate Network (SN) to support Virtual Networks (VNs) in an optimal manner is known as Virtual Network Embedding (VNE). In the same context, online VN migration is the process meant to reallocate components of a VN, or even an entire VN among elements of the SN in real time and seamlessly to end-users. Online VNE without VN migration may lead to either over- or under-utilization of the SN resources. However, VN migration is challenging due to its computational cost and the service disruption inherent to VN components reallocation. Online VN migration can reduce migration costs insofar it is triggered proactively, not reactively, at critical times, avoiding the negative effects of both under- and over-triggering. This paper presents a novel online cost-efficient mechanism that self-adaptively learns the exact moments when triggering VN migration is likely to be profitable in the long term. We propose a novel self-adaptive mechanism based on Reinforcement Learning that determines the right trigger online VN migration times, leading to the minimization of migration costs while simultaneously considering the online VNE acceptance ratio.Peer ReviewedPostprint (author's final draft

Smart Microgrids: Optimizing Local Resources toward Increased Efficiency and a More Sustainable Growth

Smart microgrids are a possibility to reduce complexity by performing local optimization of power production, consumption and storage. We do not envision smart microgrids to be island solutions but rather to be integrated into a larger network of microgrids that form the future energy grid. Operating and controlling a smart microgrid involves optimization for using locally generated energy and to provide feedback to the user when and how to use devices. This chapter shows how these issues can be addressed starting with measuring and modeling energy consumption patterns by collecting an energy consumption dataset at device level. The open dataset allows to extract typical usage patterns and subsequently to model test scenarios for energy management algorithms. Section 3 discusses means for analyzing measured data and for providing detailed feedback about energy consumption to increase customers’ energy awareness. Section 4 shows how renewable energy sources can be integrated in a smart microgrid and how energy production can be accurately predicted. Section 5 introduces a self-organizing local energy system that autonomously coordinates production and consumption via an agent-based energy auction system. The final section discusses how the proposed methods contribute to sustainable growth and gives an outlook to future research

Efficient Learning Machines

Computer scienc

Emergent Behavior Development and Control in Multi-Agent Systems

Emergence in natural systems is the development of complex behaviors that result from the aggregation of simple agent-to-agent and agent-to-environment interactions. Emergence research intersects with many disciplines such as physics, biology, and ecology and provides a theoretical framework for investigating how order appears to spontaneously arise in complex adaptive systems. In biological systems, emergent behaviors allow simple agents to collectively accomplish multiple tasks in highly dynamic environments; ensuring system survival. These systems all display similar properties: self-organized hierarchies, robustness, adaptability, and decentralized task execution. However, current algorithmic approaches merely present theoretical models without showing how these models actually create hierarchical, emergent systems. To fill this research gap, this dissertation presents an algorithm based on entropy and speciation - defined as morphological or physiological differences in a population - that results in hierarchical emergent phenomena in multi-agent systems. Results show that speciation creates system hierarchies composed of goal-aligned entities, i.e. niches. As niche actions aggregate into more complex behaviors, more levels emerge within the system hierarchy, eventually resulting in a system that can meet multiple tasks and is robust to environmental changes. Speciation provides a powerful tool for creating goal-aligned, decentralized systems that are inherently robust and adaptable, meeting the scalability demands of current, multi-agent system design. Results in base defense, k-n assignment, division of labor and resource competition experiments, show that speciated populations create hierarchical self-organized systems, meet multiple tasks and are more robust to environmental change than non-speciated populations

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation