Smart Grid technology is recognized as a key component of the solution to challenges such as the increasing electric demand, an aging utility infrastructure and workforce, and the environmental impact of greenhouse gases produced during electric generation. This paper presents the application of a hybrid optimization algorithm for distributed energy resource (DER) management in Smart Grid operation. The approach emphasizes the advantages of using multiagent systems for profitable operation of a Smart Grid in the energy market. The trading strategy adopted for the auction process is a profit-maximizing adaptive bidding strategy based on risk and competitive equilibrium price prediction. The auctioneer manages the usage of DERs by receiving bids from buyers and asks from sellers. A hybrid-immune-system-based particle swarm optimization is used to minimize the fuel cost for generation assuming realistic market prices for power, distributed generator bids reflecting realistic operational costs, and load bids customized according to the consumers' priorities. The simulation results clearly indicate that the agent-based management is effective in coordinating the various DERs economically and profitably.

An Intelligent Auction Scheme for Smart Grid Market Using a Hybrid Immune Algorithm

Virtual environment (VE) is an effective method to deal with time delay in teleoperation, but it depends heavily on the accuracy of the virtual model. In this paper, a novel approach is proposed to create and verify geometric and dynamic model of the remote physical environment. The geometric errors of the virtual model are corrected by overlaying the graphics over video images and also by fusing the position and force information from the remote. A sliding-average least-square algorithm is proposed to identify dynamic parameters of the remote environment, and the corresponding virtual-model parameters are updated online to keep equal to the real environment. The VE-based teleoperation system developed in our laboratory is described. Experimental results show that the relative errors of forces provided by the corrected VE are 2.82%, 2.22%, and 2.60%, respectively, with time delay of 5, 10, and 15 s. Results indicate that VE built by this method can provide the operator with appropriate predictive virtual forces with a certain time delay

Virtual-Environment Modeling and Correction for Force-Reflecting Teleoperation With Time Delay

Multi-objective optimisation method for posture prediction and analysis with consideration of fatigue effect and its application case

Human beings perform complex tasks while even keeping balance Though this is evident for a human, it is very difficult to adapt human motion to humanoid robots, due to the posture redundancy In this paper we propose a conceptually simple framework of human posture control, scoping in a general way with grasp, task achievement and being on the same time robust to external disturbances We do this by establishing physically meaningful constraints on the force level In order to respect all constraints, we solve for a quadratic minimization problem (quadratic programming), yielding the required joint torque controls Contrarily to most other approaches, we deal also with unilateral contacts (due to friction) as well as bilateral grasps which allow for example for arbitrarily steering or pulling on a handhold Additionally, and in contrast to classical methods based on ZMP, we account also for contacts not all being in the same plane, as hand-wall contact

Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts

Multi-objective genetic algorithms: A way to improve the convergence rate

This paper presents a new method, based on a multi-agent system and on a digital mock-up technology, to assess an efficient path planner for a manikin or a robot for an access and visibility task taking into account ergonomic constraints or joint and mechanical limits. In order to solve this problem, the human operator is integrated in the process optimization to contribute to a global perception of the environment. This operator cooperates, in real time, with several automatic local elementary agents. The result of this work validates solutions through the digital mock-up; it can be applied to simulate maintainability and mountability tasks.

https://hal.archives-ouvertes.fr/hal-00583208/document

A distributed approach for access and visibility task with a manikin and a robot in a virtual reality environment

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin's control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.

/pdf/passive-control-architecture-for-virtual-humans-44e7hndpwo.pdf

Passive control architecture for virtual humans

A Distributed Approach for Accessibility and Maintainability Check With a Manikin

This paper presents a new method, based on a multiagent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic constraints. In order to solve this problem, the human operator is integrated in the process optimization to contribute to a global perception of the environment. This operator cooperates, in real-time, with several automatic local elementary agents. The result of this work validates solutions brought by digital mock-up and that can be applied to simulate maintenance task.

https://hal.archives-ouvertes.fr/hal-00162576/document

A distributed approach for access and visibility task under ergonomic constraints with a manikin in a virtual reality environment

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will focus on control. Thanks to algorithms newly introduced in recent research papers, we think we can provide an implementation, which even widens, and simplifies the animation capacities of virtual manikins. In order to do so, we are going to express the industrial expectations as for Virtual Humans, without considering feasibility (not to bias the issue). The second part will show that no commercial application provides the tools that perfectly meet the needs. Thus we propose a new animation framework that better answers the problem. Our contribution is the integration - driven by need ~ of available new scientific techniques to animate Virtual Humans, in a new control scheme that better answers industrial expectations.

Patrick Chedmail

Papers

A distributed approach for access and visibility task with a manikin and a robot in a virtual reality environment

Passive control architecture for virtual humans

A Distributed Approach for Accessibility and Maintainability Check With a Manikin

A distributed approach for access and visibility task under ergonomic constraints with a manikin in a virtual reality environment

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping