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To create a map of an unknown area, autonomous robots must follow a strategy to explore the area without knowing the optimal paths to reduce the time needed to map the whole area. To reduce the time to accomplish this task, multiple robots can work together to create a map in a more efficient way. However, without proper coordination, the time a team of autonomous robots needs to explore the unknown area can exceed the time needed by a single robot. To counteract the challenges, a shared infrastructure is needed which extracts useful information for the individual robots out of the shared information of all robots so the exploration can be coordinated. These measures introduce new challenges to the system, concerning the load of the communication infrastructure as well as the overall task of exploring and mapping becoming dependent on the correct communication and robustness of the shared team infrastructure. Therefore, the amount of communication and dependency of each individual robot of the rest of the other robots of the team must be reduced to ensure that the robots can continue working even if the communication with the shared infrastructure fails.
If left uncontrolled, electric vehicle charging poses severe challenges to distribution grid operation. Resulting issues are expected to be mitigated by charging control. In particular, voltage-based charging control, by relying only on the local measurements of voltage at the point of connection, provides an autonomous communication-free solution. The controller, attached to the charging equipment, compares the measured voltage to a reference voltage and adapts the charging power using a droop control characteristic. We present a systematic study of the voltage-based droop control method for electric vehicles to establish the usability of the method for all the currently available residential electric vehicle charging possibilities considering a wide range of electric vehicle penetrations. Voltage limits are evaluated according to the international standard EN50160, using long-term load flow simulations based on a real distribution grid topology and real load profiles. The results achieved show that the voltage-based droop controller is able to mitigate the under voltage problems completely in distribution grids in cases either deploying low charging power levels or exhibiting low penetration rates. For high charging rates and high penetrations, the control mechanism improves the overall voltage profile, but it does not remedy the under voltage problems completely. The evaluation also shows the controller’s ability to reduce the peak power at the transformer and indicates the impact it has on users due to the reduction in the average charging rates. The outcomes of the paper provide the distribution grid operators an insight on the voltage-based droop control mechanism for the future grid planning and investments.
In recent years, ultrashort pulsed lasers have increased their applicability for industrial requirements, as reliable femtosecond and picosecond laser sources with high output power are available on the market. Compared to conventional laser sources, high quality processing of a large number of material classes with different mechanical and optical properties is possible. In the field of laser cutting, these properties enable the cutting of multilayer substrates with changing material properties. In this work, the femtosecond laser cutting of phosphor sheets is demonstrated. The substrate contains a 230 micrometer thick silicone layer filled with phosphor, which is embedded between two glass plates. Due to the softness and thermal sensitivity of the silicone layer in combination with the hard and brittle dielectric material, the separation of such a material combination is challenging for both mechanical separation processes and cutting with conventional laser sources. In our work, we show that the femtosecond laser is suitable to cut the substrate with a high cutting edge quality. In addition to the experimental results of the laser dicing process, we present a universal model that allows predicting the final cutting edge geometry of a multilayer substrate.