Abstract

Abstract
Energy hub system (EHS) incorporating multiple energy carriers, storage, and renewables can efficiently coordinate various energy resources to optimally satisfy energy demand. However, the intermittency of renewable generation poses great challenges on optimal EHS operation. This article proposes an innovative distributionally robust optimization model to operate EHS with an energy storage system (ESS), considering the multimodal forecast errors of photovoltaic (PV) power. Both battery and heat storage are utilized to smooth PV output fluctuation and improve the energy efficiency of EHS. This article proposes a novel multimodal ambiguity set to capture the stochastic characteristics of PV multimodality. A two-stage scheme is adopted, where 1) the first stage optimizes EHS operation cost, and 2) the second stage implements real-time dispatch after the realization of PV output uncertainty. The aim is to overcome the conservatism of multimodal distribution uncertainties modeled by typical ambiguity sets and reduce the operation cost of EHS. The presented model is reformulated as a tractable semidefinite programming problem and solved by a constraint generation algorithm. Its performance is extensively compared with widely used normal and unimodal ambiguity sets. The results from this article justify the effectiveness and performance of the proposed method compared to conventional models, which can help EHS operators to economically consume energy and use ESS wisely through the optimal coordination of multienergy carriers.

Abstract
In the original publication, Figs. 1 and 2 were interchange and the citation of Fig. 1 in the third paragraph of section 2.2 Authoring tools for multisensory VR experiences should be removed.

Abstract
As a main fiexible resource, energy storage helps smooth the volatility of renewable generation and reshape the load profile. This paper aims to characterize the impact of energy storage unit on the economic operation of distribution systems in a geometric manner that is convenient for visualization. Posed as a multi-parametric linear programming problem, the optimal operation cost is explicitly expressed as a convex piecewise linear function in the MW/MWh parameter of the energy storage unit. Based on duality theory, a dual linear programming based algorithm is proposed to calculate an approximate optimal value function (OVF) and critical regions, circumventing the difficulty of degeneracy, a common challenge in the existing multi-parametric linear programming solvers. When the uncertainty of renewable generation is considered, the expected OVF can be readily established based on OVFs in the individual scenarios, which is scalable in the number of scenarios. The OVF delivers abundant sensitivity information that is useful in energy storage sizing. Leveraging the OVFs, a robust stochastic optimization model is proposed to determine the optimal MW-MWh size of the storage unit subject to a given budget, which gives rise to a simple linear program. Case study provides a clear sketch of the outcome of the proposed method, and suggests that the optimal energy-power ratio of an energy storage unit is between 5 and 6 from the economical perspective.

Abstract
New approaches on industrial mobile robots are changing the localization systems from old methods such as magnetic tapes to laser beacons based systems and natural landmarks since they are more adaptable and easier to install on the shop floor. Sensor fusion methods needs to be applied since there is information provided from different sources. Extended Kalman Filters are very used in the pose estimation of mobile robots with sensors that detect beacons and measure its distance and angle in a local referential frame. In certain situations, like for example wheels slippage, the number of impulses read for the encoders is wrong, resulting in a very large displacement or rotation and causing a bad estimation at the end of the prediction step. This bad estimation is used for the linearization of the non-linear equations, causing a bad linear approximation and probably a failure in the Kalman Filter. In this paper it is demonstrated that if we use the last state estimation calculated in the update step at the last cycle, instead of the estimation from the prediction step in the actual cycle, the result is an estimator much more robust to errors in the odometry information. Simulated and real results from several experiments are illustrated to demonstrate this new approach. © 2020 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the FAIM 2021.

Abstract
Machine Learning systems are generally thought of as fully automatic. However, in recent years, interactive systems in which Human experts actively contribute towards the learning process have shown improved performance when compared to fully automated ones. This may be so in scenarios of Big Data, scenarios in which the input is a data stream, or when there is concept drift. In this paper we present a system for supporting auditors in the task of financial fraud detection. The system is interactive in the sense that the auditors can provide feedback regarding the instances of the data they use, or even suggest new variables. This feedback is incorporated into newly trained Machine Learning models which improve over time. In this paper we show that the order by which instances are evaluated by the auditors, and their feedback incorporated, influences the evolution of the performance of the system over time. The goal of this paper is to study of different instance selection strategies for Human evaluation and feedback can improve the learning speed. This information can then be used by the system to determine, at each moment, which instances would improve the system the most, so that these can be suggested to the users for validation. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.