Electrical and Electronic Engineering - Journal Articles
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Item DeltaFlex—An additively manufactured Delta robot with compliant joints: Virtual prototyping and experimental evaluation(American Society of Mechanical Engineers, 2024-07-22) Parmiggiani, Alberto; Ottonello, Emilio; Kargar, Seyyed Masoud; Baggetta, Mario; Hao, Guangbo; Berselli, GiovanniThe current study presents the development and validation of a compliant Delta robot with a monolithic structure, which has been fabricated using additive manufacturing (AM). The monolithic design and the use of AM accelerate the robot development cycle by enabling rapid prototyping and deployment while also facilitating experimentation with novel or different robot kinematics. The use of flexible joints for robots presents a challenge in achieving sufficient workspaces. However, parallel architectures are well suited for incorporating compliant joints, as they require lower ranges of motion for individual joints compared to serial architectures. Therefore, the Delta configuration has been chosen for this study. Multibody flexible dynamics (MfBD) simulations have been used as a means to guide design choices and simulate the structural behaviour of the robot. A design for additive manufacturing (DfAM) technique has been adopted to minimize the need for support structures and maximize mechanical strength. The quantitative evaluation of the Delta’s overall performance has been conducted in terms of stiffness and precision. The stiffness test aimed to gauge the robot’s ability to withstand applied loads, whereas the repeatability test assessed its precision and accuracy. This approach offers a promising path for robot design with significant potential for future advancements and practical applications while highlighting the trade-offs that designers should consider when adopting this methodology.Item An advanced retail electricity market for active distribution systems and home microgrid interoperability based on game theory(Elsevier B.V., 2018-01-04) Marzband, Mousa; Javadi, Masoumeh; Pourmousavi, S. Ali; Lightbody, Gordon; Horizon 2020; Science Foundation Ireland; National Science FoundationThe concept of active distribution network has emerged by the application of new generation and storage technologies, demand flexibility, and communication infrastructure. The main goal is to create infrastructure and algorithms to facilitate an increased penetration of distributed energy resources, application of demand response and storage technologies, and encourage local generation and consumption within the distribution network. However, managing thousands of prosumers with different requirements and objectives is a challenging task. To do so, market mechanisms are found to be necessary to fully exploit the potential of customers, known as Prosumers in this new era. This paper offers an advanced retail electricity market based on game theory for the optimal operation of home microgrids (H-MGs) and their interoperability within active distribution networks. The proposed market accommodates any number of retailers and prosumers incorporating different generation sources, storage devices, retailers, and demand response resources. It is formulated considering three different types of players, namely generator, consumer, and retailer. The optimal solution is achieved using the Nikaido-Isoda Relaxation Algorithm (NIRA) in a non-cooperative gaming structure. The uncertainty of the generation and demand are also taken into account using appropriate statistical models. A comprehensive simulation study is carried out to reveal the effectiveness of the proposed method in lowering the market clearing price (MCP) for about 4%, increasing H-MG responsive load consumption by a factor of two, and promoting local generation by a factor of three. The numerical results also show the capability of the proposed algorithm to encourage market participation and improve profit for all participants.Item Smart transactive energy framework in grid-connected multiple home microgrids under independent and coalition operations(Elsevier Ltd., 2018-03-21) Marzband, Mousa; Azarinejadian, Fatemeh; Savaghebi, Mehdi; Pouresmaeil, Edris; Guerrero, Josep M.; Lightbody, Gordon; Horizon 2020; Science Foundation Ireland; Energiteknologisk udviklings- og demonstrationsprogram; Ministry of Science and Technology of the People's Republic of ChinaThis paper presents a smart Transactive energy (TE) framework in which home microgrids (H-MGs) can collaborate with each other in a multiple H-MG system by forming coalitions for gaining competitiveness in the market. Profit allocation due to coalition between H-MGs is an important issue for ensuring the optimal use of installed resources in the whole multiple H-MG system. In addition, considering demand fluctuations, energy production based on renewable resources in the multiple H-MG can be accomplished by demand-side management strategies that try to establish mechanisms to allow for a flatter demand curve. In this regard, demand shifting potential can be tapped through shifting certain amounts of energy demand from some time periods to others with lower expected demand, typically to match price values and to ensure that existing generation will be economically sufficient. It is also possible to obtain the maximum profit with the coalition formation. In essence the impact of the consumption shifting in the multiple H-MG schedule can be considered while conducting both individual and coalition operations. A comprehensive simulation study is carried out to reveal the effectiveness of the proposed method in lowering the market clearing price (MCP) for about 15% of the time intervals, increasing H-MG responsive load consumption by a factor of 30%, and promoting local generation by a factor of three. The numerical results also show the capability of the proposed algorithm to encourage market participation and improve profit for all participants.Item Design of a three-axis force sensor using decoupled compliant parallel mechanisms(Institute of Electrical and Electronics Engineers (IEEE), 2024-06-19) Li, Haiyang; Yi, Longteng; Leng, Chuyang; Zhong, Yahan; Hong, Jiaqi; Song, Xueguan; Hao, Guangbo; National Natural Science Foundation of ChinaMulti-axis force sensors are integral to a wide range of high-tech applications, including robotics and machine monitoring. However, a significant challenge in their use is the high cross-axis coupling, which detrimentally affects measurement accuracy. To address this critical issue, this paper presents a comprehensive design method for multi-axis force sensors. This approach utilizes compliant parallel mechanisms, effectively decoupling the measured forces on multiple axes and enabling precise and independent measurement of each component force within the multi-axis system. Focusing on three-axis force sensors as a case study, this paper elucidates the proposed design principle. The comprehensive study covers system configuration, mechanical design, analytical modeling, numerical simulation, prototype development, and experimental evaluation. The resultant three-axis force sensor, prior to calibration, exhibits an average coupling error of just about 1.5%, underscoring its superior decoupling capability. The design concept and methodologies outlined here offer valuable insights for the development of self-decoupling multi-axis force sensors, advancing the field significantly.Item Energy management strategy of a green port serving emission-free ferries considering EV parking lot availability(Institute of Electrical and Electronics Engineers (IEEE), 2023-12-20) Ozdemir, Hilal; Güldorum, Hilmi Cihan; Erenoğlu, Ayşe Kübra; Sengor, Ibrahim; Hayes, Barry P.; Erdinç, Ozan; Science Foundation Ireland; Junta de Comunidades de Castilla-La Mancha; European Regional Development Fund; Universidad de Castilla-La ManchaWhile the role of transportation is indispensable in daily life, the transportation sector is one of the major contributors to greenhouse gas (GHG) emissions. With the utilization of green vehicles in transportation systems and the adoption of renewable energy sources in power systems, it becomes possible to achieve an environmentally friendly transportation system. In this paper, an energy management algorithm for a port power system is presented, including a solar-based local power production unit serving hybrid ferries having fuel cell/battery, as well as an electric vehicle (EV) parking lot, allowing for bi-directional power flow between the port and the grid. The proposed concept enables dual integrated green transportation with the possibility of parking EVs to the lot and then continuing to journey via another green transportation option. The stochasticity regarding the photovoltaic plant (PVP) and EV behaviors are taken into consideration under a real-time rolling horizon optimization framework. Minimizing the operational cost of the port related to the energy consumption is the objective function in this novel transportation-to-transportation integration concept. Numerous case studies have been developed and tested to demonstrate the effectiveness of the suggested algorithm.