Comparative assessment of control strategies for the biradial turbine in the Mutriku OWC plant

To be competitive against other renewable energy sources, energy converted from the ocean waves needs to reduce its associated levelised cost of energy. It has been proven that advanced control algorithms can increase power production and device reliability. They act throughout the power conversion chain, from the hydrodynamics of wave absorption to the power take-off to improve the energy yield. The present work highlights the development and test of several algorithms to control the biradial turbine which is to be installed in the Mutriku oscillating water column plant. A collection of adaptive and predictive controllers is explored and both turbine speed controllers and latching strategies are examined. A Wave-to-Wire model of one chamber of the plant is detailed and simulation results of six control laws are obtained. The controllers are then validated using an electrical test infrastructure to prepare the future deployment in the plant. Finally, the control strategies are assessed against criteria like energy production, power quality or reliability.This work has received funding from the European Union'sHorizon 2020 research and innovation programme under grantagreement No 654444 (OPERA Project). This work was financed by GV/EJ (Basque Country Government) under grants IT1324-19. The second author was partially funded by the Portuguese Foundationfor Science and Technology (FCT) through IDMEC, under LAETAPEst-OE/EME/LA0022 by FCT researcher grant No. IF/01457/2014.The authors acknowledge AZTI Tecnalia for wave resource data measured at the plant

Sea trial results of a predictive algorithm at the Mutriku Wave power plant and controllers assessment based on a detailed plant model

Improving the power production in wave energy plants is essential to lower the cost of energy production from this type of installations. Oscillating Water Column is among the most studied technologies to convert the wave energy into a useful electrical one. In this paper, three control algorithms are developed to control the biradial turbine installed in the Mutriku Wave Power Plant. The work presents a comparison of their main advantages and drawbacks first from numerical simulation results and then with practical implementation in the real plant, analysing both performance and power integration into the grid. The wave-to-wire model used to develop and assess the controllers is based on linear wave theory and adjusted with operational data measured at the plant. Three different controllers which use the generator torque as manipulated variable are considered. Two of them are adaptive controllers and the other one is a nonlinear Model Predictive Control (MPC) algorithm which uses information about the future waves to compute the control actions. The best adaptive controller and the predictive one are then tested experimentally in the real power plant of Mutriku, and the performance analysis is completed with operational results. A real time sensor installed in front of the plant gives information on the incoming waves used by the predictive algorithm. Operational data are collected during a two-week testing period, enabling a thorough comparison. An overall increase over 30% in the electrical power production is obtained with the predictive control law in comparison with the reference adaptive controller.The work was funded by European Union's Horizon 2020 research and innovation program, OPERA Project under grantagreement No 654444, and the Basque Government under project IT1324-19. We acknowledge Ente Vasco de la Energía (EVE) for theaccess of the Mutriku plant and Oceantec in their support during the sea trials. The authors thank Joannes Berques (Tecnalia) for hiscontribution on the wave climate analysis at Mutriku and Borja de Miguel (IDOM) for his insights on the hydrodynamics modelling. Special thanks go to Temoana Menard in the study of the polytropic air model during its internship at Tecnalia

Assembled PTO based on an array of double-acting hydraulic cylinders for WECs: From Conceptual Design to an Adjusted Detailed Model

All Wave Energy Converters (WECs) based on wave activated bodies comprises a Power Take- Off (PTO) system among other subsystems like the reaction mechanism, the supervisor of the system and the electrical generator. One of the most applied PTO systems consists of oil high pressure hydraulic devices. These devices are able to apply high forces, to store large quantities of energy through accumulators and to provide smoother power output to the motor coupled to a generator. In these systems the poor efficiency and the oil leakages contaminating the environment are considered main drawbacks. Despite of this, they are widely used in several promising WECs with the aim of optimizing the harvested wave energy along the time. The initial challenge to absorb an oscillating movement of ±30º at 5rad/s as a maximum angular speed absorbing up to 16000Nm from a specific WEC, led to the development of a simplified hydraulic model before manufacturing a PTO prototype to be verified in a Test Bench (Figure 1). The experimental results of PTO under different conditions have been used to adjust a full detailed PTO Model using Mathworks® software platform. This work presents a patented oil high pressure hydraulic PTO prototype based on an array of four double-acting hydraulic cylinders. This prototype has been designed and completely modelled as a proof concept at 1:4 scale being able to apply a variable Coulomb type damping torque through the activation of each hydraulic cylinder independently and through the modification of geometrical parameters easily. The complete model of the PTO has been accurately tuned up through adjustment of model parameters using the results of the experimental tests. This will allow the study of control strategies to optimize the extracted wave energy from a specific WEC, like point-absorbers

Modeling Innovative Power Take-Off Based on Double-Acting Hydraulic Cylinders Array for Wave Energy Conversion

One of the key systems of a Wave Energy Converter for extraction of wave energy is the Power Take-Off (PTO) device. This device transforms the mechanical energy of a moving body into electrical energy. This paper describes the model of an innovative PTO based on independently activated double-acting hydraulic cylinders array. The model has been developed using a simulation tool, based on a port-based approach to model hydraulics systems. The components and subsystems used in the model have been parameterized as real components and their values experimentally obtained from an existing prototype. In fact, the model takes into account most of the hydraulic losses of each component. The simulations show the flexibility to apply different restraining torques to the input movement depending on the geometrical configuration and the hydraulic cylinders on duty, easily modified by a control law. The combination of these two actions allows suitable flexibility to adapt the device to different sea states whilst optimizing the energy extraction. The model has been validated using a real test bench showing good correlations between simulation and experimental testsSpanish Government PS-440000-2008-1, Regional Government of the Basque Country IT719-13, UPV/EHU UFI11/2

Automation Architecture based on Cyber Physical Systems for Flexible Manufacturing within Oil&Gas Industry

[ES] Es evidente que en los próximos años gran parte de las tecnologías recogidas bajo el marco de la denominada Industria 4.0 tendrá un profundo impacto en todas las empresas y entre ellas, en las relacionadas con la explotación y producción de petróleo y gas. La automatización de bajo coste promueve arquitecturas de referencia rentables y nuevos enfoques de desarrollo para aumentar la flexibilidad y la eficiencia de las operaciones de producción en una planta industrial. En este sentido, OPC UA, proporciona acceso local y remoto a la información de planta, facilitando un mecanismo reconocido de integración tanto horizontal como vertical de manera correcta, segura y eficiente. El objetivo principal de este artículo es presentar una arquitectura abierta para la integración vertical basada en sistemas ciber-físicos de producción, configurados bajo la norma IEC 61499 y usando OPC UA, apta para su utilización en la fabricación flexible en la industria de petróleo ygas.[EN] It is clear that in the next few years most of the technologies involved in the so-called Industry 4.0 will have a deep impact on manufacturing companies, including those related to Oil & Gas exploration and production. Low cost automation promotes reference architectures and development approaches aiming at increasing the flexibility and efficiency of production operations in industrial plants. In this sense, OPC UA, in addition to allowing companies to join the Industry 4.0 initiative, provides local and remote access to plant information, enabling a recognized mechanism for both, horizontal and vertical integration in a reliable, safe and efficient way. The contribution of this article is an open architecture for vertical integration based on cyber-physical production systems, configured under IEC 61499 and using OPC UA, suitable to achieve flexible manufacturing within Oil & Gas industry.Este trabajo ha sido financiado por el MINECO/FEDER, UE del Gobierno de España bajo el proyecto DPI2015-68602-R y por el Gobierno Vasco/EJ bajo el reconocimiento de grupo de investigación IT914-16. Así mismo como al Gobierno Ecuatoriano a través de la Beca SENESCYT “Convocatoria abierta 2013”.García, MV.; Irisarri, E.; Pérez, F.; Estévez, E.; Marcos, M. (2018). Arquitectura de Automatización basada en Sistemas Ciberfísicos para la Fabricación Flexible en la Industria de Petróleo y Gas. Revista Iberoamericana de Automática e Informática industrial. 15(2):156-166. https://doi.org/10.4995/riai.2017.8823OJS156166152DIAC, 2017. IEC 61499 Implementation for Distributed. Available at: https://eclipse.org/4diac/Claassen, A., Rohjans, S. & Lehnhoff Member, S., 2011. Application of the OPC UA for the Smart Grid. In 2011 2nd IEEE PES International Conference and Exhibition on Innovative Smart Grid Technologies. IEEE, pp. 1-8. Available at: http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6162627.Garcia, M. V. et al., 2014. Building industrial CPS with the IEC 61499 standard on low-cost hardware platforms. Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA), pp.1-4. https://doi.org/10.1109/ETFA.2014.7005272Garcia, M. V. et al., 2015. Developing CPPS within IEC-61499 based on low cost devices. IEEE International Workshop on Factory Communication Systems - Proceedings, WFCS, 2015-July, pp.1-4.GmbH, 4DIAC Consortium. PROFACTOR, 2010. Framework for Distributed Industrial Automation and Control (4DIAC). Available at: http://www.fordiac.org.Hazarika, P. et al., 2015. Mobile cloud integration for industrial data interchange. 2015 International Conference on Advances in Computing, Communications and Informatics, ICACCI 2015, pp.1118-1122. https://doi.org/10.1109/ICACCI.2015.7275760Hussain, T. & Frey, G., 2004. Developing IEC 61499 compliant distributed systems with network enabled controllers. In IEEE Conference on Robotics, Automation and Mechatronics, 2004. IEEE, pp. 507-512. Available at: http://ieeexplore.ieee.org/document/1438972/.International Electrotechnical Commission, 2014. International Electrotechnical Commission Std. (2005) IEC 61499: Function blocks, Part 1-4. Available at: http://www.iec.ch.Jain, S., Yuan, C. & Ferreira, P., 2002. EMBench: A Rapid Prototyping Environment for Numerical Control Systems. In Dynamic Systems and Control. ASME, pp. 7-13. Available at: http://proceedings.asmedigita lcollection.asme.org/proceeding.aspx?articleid=1580998.Kim, J. et al., 2014. M2M service platforms: Survey, issues, and enabling technologies. IEEE Communications Surveys and Tutorials, 16(1), pp.61-76. https://doi.org/10.1109/SURV.2013.100713.00203van der Linden, D. et al., 2011. An OPC UA interface for an evolvable ISA88 control module. In ETFA2011. IEEE, pp. 1-9. Available at: http://ieeexplore.ieee.org/document/6058978/. https://doi.org/10.1109/ETFA.2011.6058978Olsen, S. et al., 2005. Contingencies-based reconfiguration of distributed factory automation. Robotics and Computer-Integrated Manufacturing, 21(4-5), pp.379-390. https://doi.org/10.1016/j.rcim.2004.11.011Perez, F. et al., 2015. A CPPS Architecture approach for Industry 4.0. In 2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA). IEEE, pp. 1-4. Available at: http://ieeexplore.ieee.org/document/7301606/.Querol, E. et al., 2016. Evaluation of closed loop control applications using different event management strategies under IEC 61499. In 2016 Second International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP). IEEE, pp. 1-8. Available at: http://ieeexplore.ieee.org/document/7605263/.Rentschler, M., Trsek, H. & Durkop, L., 2016. OPC UA extension for IP auto-configuration in cyber-physical systems. In 2016 IEEE 14th International Conference on Industrial Informatics (INDIN). IEEE, pp. 26-31. Available at: http://ieeexplore.ieee.org/document/7819128/.Sande, O., Fojcik, M. & Cupek, R., 2010. OPC UA Based Solutions for Integrated Operations. Communications in Computer and Information Science, 79, pp.76-83. https://doi.org/10.1007/978-3-642-13861-4_8Schwab, C., Tangermann, M. & Ferrarini, L., 2005. Web based methodology for engineering and maintenance of distributed control systems: the TORERO approach. In INDIN '05. 2005 3rd IEEE International Conference on Industrial Informatics, 2005. IEEE, pp. 32-37. Available at: http://ieeexplore.ieee.org/document/1560348/. https://doi.org/10.1109/INDIN.2005.1560348Stambolov, G. & Batchkova, I., 2011. Reconfiguration processes in manufacturing systems on the base of IEC 61499 standard. In Proceedings of the 6th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems. IEEE, pp. 161-166. Available at: http://ieeexplore.ieee.org/document/6072731/. https://doi.org/10.1109/IDAACS.2011.6072731Stojmenovic, I., 2014. Machine-to-Machine Communications with In-network Data Aggregation, Processing and Actuation for Large Scale Cyber-Physical Systems. IEEE Internet of Things Journal, PP(99), pp.1-1. Available at: http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm? arnumber=6766661.Strasser, T. et al., 2011. Design and Execution Issues in IEC 61499 Distributed Automation and Control Systems. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), 41(1), pp.41-51. Available at: http://ieeexplore.ieee.org/document/5571034/. https://doi.org/10.1109/TSMCC.2010.2067210Strasser, T., Auinger, F. & Zoitl, A., 2004. Development, implementation and use of an IEC 61499 function block library for embedded closed loop control. In 2nd IEEE International Conference on Industrial Informatics, 2004. INDIN '04. 2004. IEEE, pp. 594-599. Available at: http://ieeexplore.ieee.org/document/1417415/. https://doi.org/10.1109/INDIN.2004.1417415Thramboulidis, K. & Tranoris, C., 2001. An architecture for the development of function block oriented engineering support systems. In Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (Cat. No.01EX515). IEEE, pp. 536-542. Available at: http://ieeexplore.ieee.org/document/ 1013258/https://doi.org/10.1109/CIRA.2001.1013258Vicaire, P.A. et al., 2012. Bundle : A Group-Based Programming Abstraction for Cyber-Physical Systems. , 8(2), pp.379-392.Vyatkin, V., Cheng Pang & Tripakis, S., 2015. Towards cyber-physical agnosticism by enhancing IEC 61499 with PTIDES model of computations. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. IEEE, pp. 001970-001975. Available at: http://ieeexplore.ieee.org/document/7392389/.Wang, L. et al., 2001. Realizing Holonic Control with Function Blocks. Integr. Comput.-Aided Eng., 8(1), pp.81-93. Available at: http://dl.acm.org/citation.cfm?id=1275723.1275730.Wang, L., Keshavarzmanesh, S. & Feng, H.Y., 2008. Design of adaptive function blocks for dynamic assembly planning and control. Journal of Manufacturing Systems, 27(1), pp.45-51. Available at:https://doi.org/10.1016/j.jmsy.2008.06.003Wang, L., Song, Y. & Gao, Q., 2009. Designing function blocks for distributed process planning and adaptive control. Engineering Applications of Artificial Intelligence, 22(7), pp.1127-1138. Available at:https://doi.org/10.1016/j.engappai.2008.11.008Yuan, C. & Ferreira, P., 2004. An Integrated Environment for the Design and Control of Deadlock-Free Flexible Manufacturing Cells. In Manufacturing Engineering and Materials Handling Engineering. ASME, pp. 471-481. Available at: http://proceedings. asmedigitalcollection.asme.org/ proceeding.aspx?articleid=1652663.Zawawi, A. El & El-Sayed, A., 2012. Integration of DCS and ESD through an OPC application for upstream Oil and Gas. IEEE Power and Energy Society General Meeting, pp.1-5.Zoitl, A. et al., 2005. Executing real-time constrained control applications modelled in IEC 61499 with respect to dynamic reconfiguration. In INDIN '05. 2005 3rd IEEE International Conference on Industrial Informatics, 2005. IEEE, pp. 62-67. Available at: http://ieeexplore.ieee.org/document/1560353/. https://doi.org/10.1109/INDIN.2005.156035

Integración de comunicaciones a nivel de planta empleando sistemas ciber-físicos de producción de bajo coste

[Resumen] Los sistemas de automatización industrial actuales tienen que hacer frente a los desafíos que surgen al tratar de solventar las necesidades generadas por un mercado altamente competitivo. Estos desafíos conducen a la utilización de una nueva generación de sistemas de automatización basado en los denominados Sistemas Ciber-físicos de Producción (CPPS – Cyber-Physical Production Systems). Los CPPSs permiten la integración de sistemas de adquisición de datos tradicionales y novedosos sistemas de procesamiento inteligente de datos, con el objetivo de extraer información y mejorar el rendimiento general del sistema productivo. Para lograrlo, es necesario cerrar la brecha existente entre los sistemas de control y los niveles superiores. Este trabajo propone una aproximación en el desarrollo de aplicaciones bajo la norma IEC-61499 para el intercambio de datos entre el nivel de planta y las capas más altas empleando el estándar industrial OPC UA. La comunicación OPC UA ofrece mecanismos de suscripción que permiten una integración eficiente y sencilla de recursos que residen en diferentes dispositivos. Además, dado que la arquitectura OPC UA permite su ejecución incluso en dispositivos empotrados, la propuesta aportada en este artículo permite adquirir información de la planta empleando arquitecturas de bajo coste, al mismo tiempo que se posibilita un diseño basado en componentes con independencia de la plataforma hardware utilizada.Este trabajo ha sido financiado por la Universidad del País Vasco (UPV/EHU) en el marco del proyecto UFI 11/28, por el MCYT y FEDER bajo el proyecto DPI2015-68602-R, y por el Ministerio de Educación e Investigación de Ecuador a través de subvención SENESCYT-2014Universidad del País Vasco = Euskal Herriko Unibertsitatea; UFI 11/28https://doi.org/10.17979/spudc.978849749808

Association Among Polyphenol Intake, Uric Acid, and Hyperuricemia: A CrossSectional Analysis in a Population at High Cardiovascular Risk

Dietary polyphenol intake has been associated with a decreased risk of hyperuricemia, but most of this knowledge comes from preclinical studies. The aim of the present study was to assess the association of the intake of different classes of polyphenols with serum uric acid and hyperuricemia. This cross- sectional analysis involved baseline data of 6332 participants. Food polyphenol con- tent was estimated by a validated semiquantitative food frequency questionnaire and from the Phenol-Explorer database. Multivariable-adjusted linear regression models with serum uric acid (milligrams per deciliter) as the outcome and polyphenol intake (quintiles) as the main independent variable were fitted. Cox regression models with constant follow-up time (t=1) were performed to estimate the prevalence ratios (PRs) of hyperuricemia (≥7 mg/dL in men and ≥6 mg/dL in women). An inverse association between the intake of the phenolic acid class (β coefficient, −0.17 mg/dL for quintile 5 versus quintile 1 [95% CI, −0.27 to −0.06]) and hydroxycinnamic acids (β coefficient, −0.19 [95% CI, −0.3 to −0.09]), alkylmethoxyphenols (β coefficient, −0.2 [95% CI, −0.31 to −0.1]), and methoxyphenols (β coefficient, −0.24 [95% CI, −0.34 to −0.13]) subclasses with serum uric acid levels and hyperuricemia (PR, 0.82 [95% CI, 0.71– 0.95]; PR, 0.82 [95% CI, 0.71– 0.95]; PR, 0.80 [95% CI, 0.70– 0.92]; and PR, 0.79 [95% CI, 0.69– 0.91]; respectively) was found. The intake of hydroxybenzoic acids was directly and significantly as- sociated with mean serum uric acid levels (β coefficient, 0.14 for quintile 5 versus quintile 1 [95% CI, 0.02– 0.26]) but not with hyperuricemia

Autonomous cortisol secretion in patients with primary aldosteronism: prevalence and implications on cardiometabolic profile and on surgical outcomes

Purpose: The aim of this study was to evaluate the prevalence of autonomous cortisol secretion (ACS) in patients with primary aldosteronism (PA) and its implications on cardiometabolic and surgical outcomes. Methods: This is a retrospective multicenter study of PA patients who underwent 1 mg dexamethasone-suppression test (DST) during diagnostic workup in 21 Spanish tertiary hospitals. ACS was defined as a cortisol post-DST >1.8 μg/dL (confirmed ACS if >5 μg/dL and possible ACS if 1.8–5 μg/dL) in the absence of spe cific clinical features of hypercortisolism. The cardiometabolic profile was compared with a control group with ACS without PA (ACS group) matched for age and DST levels. Results: The prevalence of ACS in the global cohort of patients with PA (n = 176) was 29% (ACS–PA; n = 51). Ten patients had confirmed ACS and 41 possible ACS. The cardiometabolic profile of ACS–PA and PA-only patients was simil ar, except for older age and larger tumor size of the adrenal lesion in the ACS–PA group. When comparing the ACS–PA group (n = 51) and the ACS group (n = 78), the prevalence of hypertension (OR 7.7 (2.64–22.32)) and cardiovascular events (OR 5.0 (2.29–11.07)) was higher in ACS–PA patients than in ACS patients. The coexistence of ACS in patien ts with PA did not affect the surgical outcomes, the proportion of biochemical cure and clinical cure being similar between ACS–PA and PA-only groups. Conclusion: Co-secretion of cortisol and aldosterone affects almost one-thi rd of patients with PA. Its occurrence is more frequent in patients with larger tumors and advanced age. However, the cardiometabolic and surgical outcomes of patients with ACS–PA and PA-only are similar

Manufacturing traceability based on industrial agents

[Resumen] Uno de los principios fundamentales de la Industria 4.0 consiste en poner en valor los datos que se generan en una fábrica para extraer rendimiento de ellos. Estos datos pueden servir a diferentes finalidades, siendo la trazabilidad una de las más relevantes porque se demanda a todos los niveles, desde el cliente hasta el nivel de gestión de la empresa. Los agentes industriales suponen una buena alternativa para implementar la trazabilidad en planta por su capacidad de colaborar intercambiando información para cumplir sus objetivos. En este artículo, los autores proponen una solución basada en agentes industriales para realizar la trazabilidad en tiempo real de la producción a diferentes niveles (lote de fabricación, pedido de cliente, y fábrica) de forma desacoplada, para optimizar la gestión de la información y los servicios derivados de la trazabilidad a cada uno de los niveles.[Abstract] One of the main principles of Industry 4.0 is the obtention of added value from data generated during the manufacturing process. These data may serve to different purposes, being traceability one of the most relevant, since it is required at every level from customer to factory management. Industrial agents are a good alternative to implement traceability in the plant due to their ability to collaborate by exchanging information to meet their objectives. In this article, the authors propose a solution based on industrial agents to carry out the traceability of production at different levels (manufacturing batch, customer order, and factory) in a decoupled way, to optimize the management of information and services derived from traceability at each of the levels.Ministerio de Ciencia, Innovación y Universidades; RTI2018-096116-B-I00Gobierno Vasco; IT1324-1

Towards the virtual commissioning of robotic cells based on digital twin

[Resumen] Uno de los retos de la Industry 4.0 es disponer de sistemas de fabricación más flexibles, que permitan fabricar productos personalizados, adaptados a la demanda de los clientes, así como reducir tiempos de desarrollo y producción. En ese sentido, la optimización de las fases de diseño, desarrollo y validación del sistema de control del proceso de fabricación es crucial. Actualmente ya se dispone de herramientas software que permiten realizar modelos virtuales de máquinas y líneas de producción, denominados “Gemelo digital” (Digital twin), así como herramientas software para realizar la “Puesta en marcha virtual” (Virtual Commissioning), que permiten probar en simulación el programa de control del proceso contra un gemelo digital del mismo. Este artículo presenta la forma de proceder para el desarrollo del gemelo digital de células robotizadas y su puesta en simulación con SiL (Software in the Loop) y HiL (Hardware in the Loop), con herramientas de la plataforma PLM de Siemens.[Abstract] One of the challenges of Industry 4.0 is to have more flexible systems, which allow to manufacture more personalized products, adapted to customer demand, as well as reducing development and production times. In this sense, the optimization of the design, development and validation phases of the process control system is crucial. Currently, there are software tools to develop virtual models of machines and production lines, called "Digital Twin", as well as software tools to perform the "Virtual Commissioning", which allow simulation testing of the process control program against a digital twin instead of the real process. This paper presents, on the one hand, the steps to follow in order to develop digital twins of robotic cells, and on the other hand, how it can be simulated with both SiL and HiL using tools from Siemens PLM platform.Ministerio de Ciencia, Innovación y Universidades; RTI2018-096116-B-I00Gobierno Vasco; IT1324-19Gobierno Vasco; KK-2019-00095-DIGITA