Accurate frequency estimation is critical for the control, monitoring and protection of electrical power systems. This paper introduces the novel concept ofQuasi Steady-State (QSS) frequencyas a quantity that fills the gap between stationary and instantaneous frequency. QSS frequency coincides with the fundamental frequency of an AC voltage in any stationary conditions, including unbalanced and non-sinusoidal, and is able to capture the time-varying fundamental frequency in transient conditions. The paper also proposes a metric borrowed from fluid dynamics, namely, the time derivative of the circulation, to define the scope of validity of the QSS frequency. Analytical examples as well as a case study based on a fully-fledged EMT model of the IEEE 39-bus system serve to illustrate, respectively, the properties of the QSS frequency and its behavior in transient conditions.

This paper presents a data-driven methodology for estimating under frequency load shedding (UFLS) in small power systems. UFLS plays a vital role in maintaining system stability by shedding load when the frequency drops below a specified threshold following loss of generation. Using a dynamic system frequency response (SFR) model we generate different values of UFLS (i.e., labels) predicated on a set of carefully selected operating conditions (i.e., features). Machine learning (ML) algorithms are then applied to learn the relationship between chosen features and the UFLS labels. A novel regression tree and the Tobit model are suggested for this purpose and we show how the resulting non-linear model can be directly incorporated into a mixed integer linear programming (MILP) problem. The trained model can be used to estimate UFLS in security-constrained operational planning problems, improving frequency response, optimizing reserve allocation, and reducing costs. The methodology is applied to the La Palma island power system, demonstrating its accuracy and effectiveness. The results confirm that the amount of UFLS can be estimated with the mean absolute error (MAE) as small as 0.179 MW for the whole process, with a model that is representable as a MILP for use in scheduling problems such as unit commitment among others. • A learning process to estimate UFLS, focusing on common conventional schemes. • Feature selection and a new partitioning method for regression trees are analyzed. • Novel UFLS estimation with MILP models provides unique insights.

Sensing systems for long-term monitoring constitute an important part of the emerging Internet of Things. In this domain, energy harvesting and infrastructure-less communication enable truly autonomous and maintenance-free operation of sensor nodes gathering long-term environmental data. Due to the infrastructure-less nature of the communication, receivers are not always available. The variable energy provided by the environment and the receiver’s mobility lead to non-deterministic node availability. In this work, we study infrastructure-less data transmission schemes to optimize communication when both senders and receivers exhibit intermittent behavior. We rely on the notion of data utility, describing the importance of sensed data to the receiver, to determine an optimal communication scheme. Deriving the communication policy that maximizes the utility of the received data is shown to be a convex optimization problem. The resulting scheme is implemented and validated on a batteryless Bluetooth Low Energy sensor node that communicates to commodity smartphones. Our evaluation demonstrates that the model accurately captures the application scenario with a maximum root-mean-square error of less than 0.016 in data reception probability. The communication scheme’s adaptiveness to variable harvesting conditions is experimentally demonstrated under varying harvesting conditions and is shown to significantly increase the data utility.

This paper presents a fundamental study on the impact of AC-line-emulation controllers of High Voltage Direct Current links based on Voltage Source Converters (VSC-HVDC) on inter-area-oscillation damping. The analysis has been carried out using eigenvalue and frequency-domain methods. The results presented in the paper show that an AC-line-emulation controller in a VSC-HVDC link can have either a positive or negative impact on the damping ratio of inter-area modes, depending on the value of the filter time constant of the controller. The study concludes that the filter time constant must be high enough to avoid negative interactions of this control alternative on power oscillations and the paper provides guidelines for the design of this parameter.

In this work, we present a formal study on optimizing the energy consumption of energy harvesting embedded systems. To deal with the uncertainty inherent in solar energy harvesting systems, we propose the Stochastic Power Management (SPM) scheme, which builds statistical models of harvested energy based on historical data. The proposed stochastic scheme maximizes the lowest energy consumption across all time intervals while giving strict probabilistic guarantees on not encountering battery depletion. For situations where historical data is not available, we propose the use of (i) a Finite Horizon Control (FHC) scheme and (ii) a non-uniformly scaled energy estimator based on an astronomical model, which is used by FHC. Under certain realistic assumptions, the FHC scheme can provide guarantees on minimum energy usage that can be supported over all times. We further propose and evaluate a piece-wise linear approximation of FHC for efficient implementation in resource-constrained embedded systems. With extensive experimental evaluation for eight publicly available datasets and two datasets collected with our own deployments, we quantitatively establish that the proposed solutions are highly effective at providing a guaranteed minimum service level and significantly outperform existing solutions.

While energy harvesting is generally seen to be the key to power cyber-physical systems in a low-cost, long-term, efficient manner, it has generally required large energy storage devices to mitigate the effects of the source’s variability. The emerging class of transiently powered systems embrace this variability by performing computation in proportion to the energy harvested, thereby minimizing the obtrusive and expensive storage element. By using an efficient Energy Management Unit (EMU), small bursts of energy can be buffered in an optimally sized capacitor and used to supply generic loads, even when the average harvested power is only a fraction of that required for sustained system operation. Dynamic Energy Burst Scaling (DEBS) can be used by the load to dynamically configure the EMU to supply small bursts of energy at its optimal power point, independent from the harvester’s operating point. Parameters like the maximum burst size, the solar panel’s area, as well as the use of energy-efficient Non-Volatile Memory Hierarchy (NVMH) can have a significant impact on the transient system’s characteristics such as the wake-up time and the amount of work that can be done per unit of energy. Experimental data from a solar-powered, long-term autonomous image acquisition application show that, regardless of its configuration, the EMU can supply energy bursts to a 43.4mW load with efficiencies of up to 79.7% and can work with input power levels as low as 140μW. When the EMU is configured to use DEBS and NVMH, the total energy cost of acquiring, processing and storing an image can be reduced by 77.8%, at the price of increasing the energy buffer size by 65%.

With the appearance of wearable devices and the IoT, energy harvesting nodes are becoming more and more important. The design and evaluation of these small standalone sensors and actuators, which harvest limited amounts of energy, requires novel tools and methods. Fast and accurate measurement systems are required to capture the rapidly changing harvesting scenarios and characterize leakage currents and energy efficiencies. The need for real-world experiments creates a demand for compact and portable equipment to perform in-situ power measurements and environmental logging. This work presents the RocketLogger, a hand-held measurement device that combines both properties: portability and accuracy. The custom analog front-end allows logging at sampling rates up to 64 kSPS. The fast range switching within 1.4 μ8 guarantees continuous power measurements starting from 4pW at 1 mV up to 2.75 W at 5.5 V. The software provides remote control and manages data acquisition of up to 13Mb/ sec in real-time. We extensively characterize the RocketLogger's performance, demonstrate the need for its properties in three use-cases at different stages of the system design flow, and show its advantages in measuring and validating new harvesting-driven devices for the IoT.

We demonstrate the RocketLogger, a mobile data logger designed for prototyping energy harvesting IoT devices. Novel IoT applications require new dataloggers with a highly increased dynamic range for current measurement to accommodate both ultra-low sleep currents of few nanoamperes as well as wireless communication currents in the range of hundreds of milliamperes. In parallel to ultra-low currents and high dynamic range measurements, novel applications require mobile measurements for easy in-situ characterization or wearable device testing. The RocketLogger is a solution that fulfills these requirements. While being fully mobile, it measures currents from 5 nA up to 500 mA with very fast and seamless range-switching. Using a sample energy harvesting application, we demonstrate its low-current measurement capabilities, fast, seamless auto-ranging and easy-to-use remote user interface.

Multicore systems are being increasingly used for embedded system deployments, even in safety-critical domains. Co-hosting applications of different criticality levels in the same platform requires sufficient isolation among them, which has given rise to the mixed-criticality scheduling problem and several recently proposed policies. Such policies typically employ runtime mechanisms to monitor task execution, detect exceptional events like task overruns, and react by switching scheduling mode. Implementing such mechanisms efficiently is crucial for any scheduler to detect runtime events and react in a timely manner, without compromising the system’s safety. This paper investigates implementation alternatives for these mechanisms and empirically evaluates the effect of their runtime overhead on the schedulability of mixed-criticality applications. Specifically, we implement in user-space two state-of-the-art scheduling policies: the flexible time-triggered FTTS [1] and the partitioned EDFVD [2], and measure their runtime overheads on a 60-core Intel R Xeon Phi and a 4-core Intel R Core i5 for the first time. Based on extensive executions of synthetic task sets and an industrial avionic application, we show that these overheads cannot be neglected, esp. on massively multicore architectures, where they can incur a schedulability loss up to 97%. Evaluating runtime mechanisms early in the design phase and integrating their overheads into schedulability analysis seem therefore inevitable steps in the design of mixed-criticality systems. The need for verifiably bounded overheads motivates the development of novel timing-predictable architectures and runtime environments specifically targeted for mixed-criticality applications.