skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.


Title: Guaranteeing a physically realizable battery dispatch without charge-discharge complementarity constraints
The non-convex complementarity constraints present a fundamental computational challenge in energy constrained optimization problems. In this work, we present a new, linear, and robust battery optimization formulation that sidesteps the need for battery complementarity constraints and integers and prove analytically that the formulation guarantees that all energy constraints are satisfied which ensures that the optimized battery dispatch is physically realizable. In addition, we bound the worst-case model mismatch and discuss conservativeness. Simulation results further illustrate the effectiveness of this approach.  more » « less
Award ID(s):
2047306
PAR ID:
10317056
Author(s) / Creator(s):
;
Date Published:
Journal Name:
IEEE Transactions on Smart Grid
ISSN:
1949-3053
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. The problem of minimizing the rank of a symmetric positive semidefinite matrix subject to constraints can be cast equivalently as a semidefinite program with complementarity constraints (SDCMPCC). The formulation requires two positive semidefinite matrices to be complementary. This is a continuous and nonconvex reformulation of the rank minimization problem. We investigate calmness of locally optimal solutions to the SDCMPCC formulation and hence show that any locally optimal solution is a KKT point. We develop a penalty formulation of the problem. We present calmness results for locally optimal solutions to the penalty formulation. We also develop a proximal alternating linearized minimization (PALM) scheme for the penalty formulation, and investigate the incorporation of a momentum term into the algorithm. Computational results are presented. 
    more » « less
  2. null (Ed.)
    Given a set of a spatially distributed demand for a specific commodity, potential facility locations, and drones, an agency is tasked with locating a pre-specified number of facilities and assigning drones to them to serve the demand while respecting drone range constraints. The agency seeks to maximize the demand served while considering uncertainties in initial battery availability and battery consumption. The facilities have a limited supply of the commodity being distributed and also act as a launching site for drones. Drones undertake one-to-one trips (from located facility to demand location and back) until their available battery energy is exhausted. This paper extends the work done by Chauhan et al. and presents an integer linear programming formulation to maximize coverage using a robust optimization framework. The uncertainty in initial battery availability and battery consumption is modeled using a penalty-based approach and gamma robustness, respectively. A novel robust three-stage heuristic (R3SH) is developed which provides objective values which are within 7% of the average solution reported by MIP solver with a median reduction in computational time of 97% on average. Monte Carlo simulation based testing is performed to assess the value of adding robustness to the deterministic problem. The robust model provides higher and more reliable estimates of actual coverage under uncertainty. The average maximum coverage difference between the robust optimization solution and the deterministic solution is 8.1% across all scenarios. 
    more » « less
  3. Wearable internet of things (IoT) devices can enable a variety of biomedical applications, such as gesture recognition, health monitoring, and human activity tracking. Size and weight constraints limit the battery capacity, which leads to frequent charging requirements and user dissatisfaction. Minimizing the energy consumption not only alleviates this problem, but also paves the way for self-powered devices that operate on harvested energy. This paper considers an energy-optimal gesture recognition application that runs on energy-harvesting devices. We first formulate an optimization problem for maximizing the number of recognized gestures when energy budget and accuracy constraints are given. Next, we derive an analytical energy model from the power consumption measurements using a wearable IoT device prototype. Then, we prove that maximizing the number of recognized gestures is equivalent to minimizing the duration of gesture recognition. Finally, we utilize this result to construct an optimization technique that maximizes the number of gestures recognized under the energy budget constraints while satisfying the recognition accuracy requirements. Our extensive evaluations demonstrate that the proposed analytical model is valid for wearable IoT applications, and the optimization approach increases the number of recognized gestures by up to 2.4× compared to a manual optimization. 
    more » « less
  4. Design of rehabilitation and physical assistance robots that work safely and efficiently despite uncertain operational conditions remains an important challenge. Current methods for the design of energy efficient series elastic actuators use an optimization formulation that typically assumes known operational requirements. This approach could lead to actuators that cannot satisfy elongation, speed, or torque requirements when the operation deviates from nominal conditions. Addressing this gap, we propose a convex optimization formulation to design the stiffness of series elastic actuators to minimize energy consumption and satisfy actuator constraints despite uncertainty due to manufacturing of the spring, unmodeled dynamics, efficiency of the transmission, and the kinematics and kinetics of the load. To achieve convexity, we write energy consumption as a scalar convex-quadratic function of compliance. As actuator constraints, we consider peak motor torque, peak motor velocity, limitations due to the speed-torque relationship of DC motors, and peak elongation of the spring. We apply our formulation to the robust design of a series elastic actuator for a powered prosthetic ankle. Our simulation results indicate that a small trade-off between energy efficiency and robustness is justified to design actuators that can operate with uncertainty. 
    more » « less
  5. null (Ed.)
    Complementarity problems, a class of mathematical optimization problems with orthogonality constraints, are widely used in many robotics tasks, such as locomotion and manipulation, due to their ability to model non-smooth phenomena (e.g., contact dynamics). In this paper, we propose a method to analyze the stability of complementarity systems with neural network controllers. First, we introduce a method to represent neural networks with rectified linear unit (ReLU) activations as the solution to a linear complementarity problem. Then, we show that systems with ReLU network controllers have an equivalent linear complementarity system (LCS) description. Using the LCS representation, we turn the stability verification problem into a linear matrix inequality (LMI) feasibility problem. We demonstrate the approach on several examples, including multi-contact problems and friction models with non-unique solutions. 
    more » « less