Électricité de France (France)

We propose an approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric three-dimensional model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the convergence of the control law in the whole task space. 2 1/2 D visual servoing is based on the estimation of the partial camera displacement from the current to the desired camera poses at each iteration of the control law. Visual features and data extracted from the partial displacement allow us to design a decoupled control law controlling the six camera DOFs. The robustness of our visual servoing scheme with respect to camera calibration errors is also analyzed: the necessary and sufficient conditions for local asymptotic stability are easily obtained. Then, due to the simple structure of the system, sufficient conditions for global asymptotic stability are established. Finally, experimental results with an eye-in-hand robotic system confirm the improvement in the stability and convergence domain of the 2 1/2 D visual servoing with respect to classical position-based and image-based visual servoing.

Organic chemicals can contribute to local and regional losses of freshwater biodiversity and ecosystem services. However, their overall relevance regarding larger spatial scales remains unknown. Here, we present, to our knowledge, the first risk assessment of organic chemicals on the continental scale comprising 4,000 European monitoring sites. Organic chemicals were likely to exert acute lethal and chronic long-term effects on sensitive fish, invertebrate, or algae species in 14% and 42% of the sites, respectively. Of the 223 chemicals monitored, pesticides, tributyltin, polycyclic aromatic hydrocarbons, and brominated flame retardants were the major contributors to the chemical risk. Their presence was related to agricultural and urban areas in the upstream catchment. The risk of potential acute lethal and chronic long-term effects increased with the number of ecotoxicologically relevant chemicals analyzed at each site. As most monitoring programs considered in this study only included a subset of these chemicals, our assessment likely underestimates the actual risk. Increasing chemical risk was associated with deterioration in the quality status of fish and invertebrate communities. Our results clearly indicate that chemical pollution is a large-scale environmental problem and requires far-reaching, holistic mitigation measures to preserve and restore ecosystem health.

This two-part paper surveys the frequency and voltage control ancillary services in power systems from various parts of the world. In this first part, the nomenclature used to describe active power reserves across 11 systems is first reviewed in order to facilitate the comparison of frequency control ancillary services. The essential technical features of frequency and voltage control ancillary services are then described. Finally, the technical requirements adopted in eight jurisdictions (North America, continental Europe, Germany, France, Spain, the Netherlands, Belgium, and Great Britain) are compared. The companion paper surveys the economic features of these ancillary services

This paper presents a summary of technical-economic studies. It allows evaluating, in the French context, the production cost of electricity derived from coal and gas power plants with the capture of CO2, and the cost per tonne of CO2 avoided. Three systems were studied: an Integrated Gasification Combined Cycle (IGCC), a conventional combustion of Pulverized Coal (PC) and a Natural Gas Combined Cycle (NGCC). Three main methods were envisaged for the capture of CO2: pre-combustion, post-combustion and oxy-combustion. For the IGCC, two gasification types have been studied: a current technology based on gasification of dry coal at 27 bars (Shell or GE/Texaco radiant type) integrated into a classical combined cycle providing 320 MWe, and a future technology (planned for about 2015–2020) based on gasification of a coal–water mixture (slurry) that can be compressed to 64 bars (GE/Texaco slurry type) integrated into an advanced combined cycle (type H with steam cooling of the combustion turbine blades) producing a gross power output of 1200 MWe.

In electrical islands, frequency excursions are sizeable and automatic load shedding is often required in response to disturbances. Moreover, the displacement of conventional generation with wind and solar plants, which usually do not provide inertial response, further weakens these power systems. Fast-acting storage, by injecting power within instants after the loss of a generating unit, can back up conventional generation assets during the activation of their primary reserve. This paper relies on dynamic simulations to study the provision of such a dynamic frequency control support by energy storage systems in the French island of Guadeloupe with large shares of wind or solar generation. The results show that fast-acting storage, by acting as a synthetic inertia, can mitigate the impact of these sources on the dynamic performance of the studied island grid in the case of a major generation outage. The other concerns raised by renewables (e.g., variability, forecast accuracy, low voltage ride-through, etc.) have not been addressed within this project.

Cardis, E., Vrijheid, M., Blettner, M., Gilbert, E., Hakama, M., Hill, C., Howe, G., Kaldor, J., Muirhead, C. R., Schubauer-Berigan, M., Yoshimura, T., Bermann, F., Cowper, G., Fix, J., Hacker, C., Heinmiller, B., Marshall, M., Thierry-Chef, I., Utterback, D., Ahn, Y-O., Amoros, E., Ashmore, P., Auvinen, A., Bae, J-M., Bernar, J. S., Biau, A., Combalot, E., Deboodt, P., Diez Sacristan, A., Eklöf, M., Engels, H., Engholm, G., Gulis, G., Habib, R. R., Holan, K., Hyvonen, H., Kerekes, A., Kurtinaitis, J., Malker, H., Martuzzi, M., Mastauskas, A., Monnet, A., Moser, M., Pearce, M. S., Richardson, D. B., Rodriguez-Artalejo, F., Rogel, A., Tardy, H., Telle-Lamberton, M., Turai, I., Usel, M. and Veress, K. The 15-Country Collaborative Study of Cancer Risk among Radiation Workers in the Nuclear Industry: Estimates of Radiation-Related Cancer Risks. Radiat. Res. 167, 396– 416 (2007).A 15-Country collaborative cohort study was conducted to provide direct estimates of cancer risk following protracted low doses of ionizing radiation. Analyses included 407,391 nuclear industry workers monitored individually for external radiation and 5.2 million person-years of follow-up. A significant association was seen between radiation dose and all-cause mortality [excess relative risk (ERR) 0.42 per Sv, 90% CI 0.07, 0.79; 18,993 deaths]. This was mainly attributable to a dose-related increase in all cancer mortality (ERR/Sv 0.97, 90% CI 0.28, 1.77; 5233 deaths). Among 31 specific types of malignancies studied, a significant association was found for lung cancer (ERR/Sv 1.86, 90% CI 0.49, 3.63; 1457 deaths) and a borderline significant (P = 0.06) association for multiple myeloma (ERR/Sv 6.15, 90% CI <0, 20.6; 83 deaths) and ill-defined and secondary cancers (ERR/Sv 1.96, 90% CI −0.26, 5.90; 328 deaths). Stratification on duration of employment had a large effect on the ERR/Sv, reflecting a strong healthy worker survivor effect in these cohorts. This is the largest analytical epidemiological study of the effects of low-dose protracted exposures to ionizing radiation to date. Further studies will be important to better assess the role of tobacco and other occupational exposures in our risk estimates.

Presents a review of graph theory, analyzing the existing links between abstract theoretical results and their practical implications using graph theoretical models and combinatorial algorithms. Includes extensive examples to illustrate the mathematical concepts when introduced. Treats subjects often excluded in other texts such as path algebra flow with grains, multicommodity flows, and the analysis and design of approximate algorithms.

Voltage-source-converter (VSC) technologies present a bright opportunity in a variety of fields within the power system industry. New modular multilevel converters (MMCs) are expected to supersede two- and three-level VSC-based technologies for HVDC applications due to their recognized advantages in terms of scalability, performance, and efficiency. The computational burden introduced by detailed modeling of MMC-HVDC systems in electromagnetic-transients (EMT)-type programs complicates the study of transients especially when these systems are integrated into a large network. This paper presents a novel average-value model (AVM) for efficient and accurate representation of a detailed MMC-HVDC system. It also develops a detailed 401-level MMC-HVDC model for validating the AVM and studies the performance of both models when integrated into a large 400-kV transmission system in Europe. The results show that the AVM is significantly more efficient while maintaining its accuracy for the dynamic response of the overall system.

Surface wave methods gained in the past decades a primary role in many seismic projects. Specifically, they are often used to retrieve a 1D shear wave velocity model or to estimate the VS,30 at a site. The complexity of the interpretation process and the variety of possible approaches to surface wave analysis make it very hard to set a fixed standard to assure quality and reliability of the results. The present guidelines provide practical information on the acquisition and analysis of surface wave data by giving some basic principles and specific suggestions related to the most common situations. They are primarily targeted to non-expert users approaching surface wave testing, but can be useful to specialists in the field as a general reference. The guidelines are based on the experience gained within the InterPACIFIC project and on the expertise of the participants in acquisition and analysis of surface wave data.

The main objective of the COST Action 732 is the improvement and qualityassurance of micro-scale obstacle-accommodating meteorological models and theirapplication to the prediction of flow and transport processes in urban or industrialenvironments. This report contains the full best practice guidelines for undertaking simulations that areused to evaluate microscale obstacle-accommodating meteorological modelsSummaries of this report have been published as the following documents : Franke, J., Hellsten, A., Schlunzen, H. A., & Carissimo, B. (2010). The Best Practise Guideline for the CFD simulation of flows in the urban environment: an outcome of COST 732. In The Fifth International Symposium on Computational Wind Engineering (CWE2010) (pp. 1-10)Franke, J., Hellsten, A., Schlunzen, K. H., & Carissimo, B. (2011). The COST 732 Best Practice Guideline for CFD simulation of flows in the urban environment: a summary. International Journal of Environment and Pollution, 44(1-4), 419-427.

The emissions of carbon dioxide (CO 2 ) and methane (CH 4 ) from the Petit Saut hydroelectric reservoir (Sinnamary River, French Guiana) to the atmosphere were quantified for 10 years since impounding in 1994. Diffusive emissions from the reservoir surface were computed from direct flux measurements in 1994, 1995, and 2003 and from surface concentrations monitoring. Bubbling emissions, which occur only at water depths lower than 10 m, were interpolated from funnel measurements in 1994, 1997, and 2003. Degassing at the outlet of the dam downstream of the turbines was calculated from the difference in gas concentrations upstream and downstream of the dam and the turbined discharge. Diffusive emissions from the Sinnamary tidal river and estuary were quantified from direct flux measurements in 2003 and concentrations monitoring. Total carbon emissions were 0.37 ± 0.01 Mt yr −1 C (CO 2 emissions, 0.30 ± 0.02; CH 4 emissions, 0.07 ± 0.01) the first 3 years after impounding (1994–1996) and then decreased to 0.12 ± 0.01 Mt yr −1 C (CO 2 , 0.10 ± 0.01; CH 4 , 0.016 ± 0.006) since 2000. On average over the 10 years, 61% of the CO 2 emissions occurred by diffusion from the reservoir surface, 31% from the estuary, 7% by degassing at the outlet of the dam, and a negligible fraction by bubbling. CH 4 diffusion and bubbling from the reservoir surface were predominant (40% and 44%, respectively) only the first year after impounding. Since 1995, degassing at an aerating weir downstream of the turbines has become the major pathway for CH 4 emissions, reaching 70% of the total CH 4 flux. In 2003, river carbon inputs were balanced by carbon outputs to the ocean and were about 3 times lower than the atmospheric flux, which suggests that 10 years after impounding, the flooded terrestrial carbon is still the predominant contributor to the gaseous emissions. In 10 years, about 22% of the 10 Mt C flooded was lost to the atmosphere. Our results confirm the significance of greenhouse gas emissions from tropical reservoir but stress the importance of: (1) considering all the gas pathways upstream and downstream of the dams and (2) taking into account the reservoir age when upscaling emissions rates at the global scale.

This paper assesses some recent trends in the novel numerical meshless method smoothed particle hydrodynamics, with particular focus on its potential use in modelling free-surface flows. Due to its Lagrangian nature, smoothed particle hydrodynamics (SPH) appears to be effective in solving diverse fluid-dynamic problems with highly nonlinear deformation such as wave breaking and impact, multi-phase mixing processes, jet impact, sloshing, flooding and tsunami inundation, and fluid–structure interactions. The paper considers the key areas of rapid progress and development, including the numerical formulations, SPH operators, remedies to problems within the classical formulations, novel methodologies to improve the stability and robustness of the method, boundary conditions, multi-fluid approaches, particle adaptivity, and hardware acceleration. The key ongoing challenges in SPH that must be addressed by academic research and industrial users are identified and discussed. Finally, a roadmap is proposed for the future developments.

In regions such as Hawai'i, South Australia, Tasmania, Texas, and Ireland, power systems are commonly experiencing instantaneous penetration levels of inverter-based power sources (IBPSs) such as wind, solar photovoltaics (PV), and battery storage in excess of 50-60% relative to system demands.

It has been recognised that numerical computations of magnetic fields by the finite-element method may require new types of elements, whose degrees of freedom are not field values at mesh nodes, but other field-related quantities like e.g. circulations along edges of the mesh. A rationale for the use of these special ‘mixed’ elements can be obtained if one cxpresses basic equations in terms of differential forms, instead of vector fields. The paper gives an elementary introduction to this point of view, presents Whitney forms (the mixed finite elements alluded to), and sketches two numerical methods (dual, in some sense), for eddy-current studies, based on these elements.

We are concerned with the numerical resolution of backward stochastic differential equations. We propose a new numerical scheme based on iterative regressions on function bases, which coefficients are evaluated using Monte Carlo simulations. A full convergence analysis is derived. Numerical experiments about finance are included, in particular, concerning option pricing with differential interest rates.

Unit commitment is a complex problem which, until now and for real size systems, has been solved using heuristic methods only. This paper proposes a new Lagrangian relaxation method, which produces ε-optimal solutions. The flexibility of the algorithm is such that numerous developments can be envisaged, such as simultaneous management of pumping units, probabilistic determination of the spinning reserve, etc.

Large‐scale particle image velocimetry (LSPIV) is a nonintrusive approach to measure velocities at the free surface of a water body. The raw LSPIV results are instantaneous water surface velocity fields, spanning flow areas up to hundreds of square meters. Measurements conducted in typical conditions in conjunction with appropriate selections of parameters for image processing resulted in mean velocity errors of less than 3.5%. The current article reviews the background of LSPIV and the work of three research teams spanning over a decade. Implementation examples using various LSPIV configurations are then described to illustrate the capability of the technique to characterize spatially distributed two‐ and three‐dimensional flow kinematic features that can be related to important morphologic and hydrodynamic aspects of natural rivers. Finally, results and a critique of research methods are discussed to encourage LSPIV use and to improve its capabilities to collect field data needed to better understand complex geomorphic, hydrologic, and ecologic river processes and interactions under normal and extreme conditions.

The stochastic finite element method allows to solve stochastic boundary value problems where material properties and loads are random. The method is based on the expansion of the mechanical response onto the so-called polynomial chaos. In this paper, a non intrusive method based on a least-squares minimization procedure is presented. This method is illustrated by the study of the settlement of a foundation. Different analysis are proposed: the computation of the statistical moments of the response, a reliability analysis and a parametric sensitivity analysis.

The presence of space charge in the polymeric insulation of high-voltage cables is thought to be correlated with electric breakdown. However, a direct link between molecular properties, space charge formation and eventual breakdown has still to be established. It is clear that both physical (e.g., conformational disorder) and chemical defects (e.g., broken bonds and impurities) are present in insulating materials and that both may trap electrons. We have shown that by defining the defect energy in terms of the molecular electron affinity, a relationship is established between the electron trap and the molecular properties of the material. In a recent paper [M. Meunier and N. Quirke, J. Chem. Phys. 113, 369 (2000)] we proposed methods that have made it possible to provide estimates of the energy, number and residence times of electrons in conformational traps in polyethylene. Typical physical trap energies are of the order of 0.15 eV and all are less than 0.3 eV. In the present paper we focus on the role of chemical defects, where we expect much deeper traps but at very low concentrations. Following the methodology used in our previous paper we have used density-functional theory to calculate trap energies for a set of chemical impurities and additives commonly found in polyethylene used for high-voltage cable insulation. In an extension of our approach we have estimated the effect of neighboring molecules on the trap energies of such defects. The resulting trap energy-trap density distribution reveals some very deep (&amp;gt;1 eV) traps presumably implicated in the formation of long-lived space charge in polymeric insulators and consequently to changes in the dielectric properties of the material.

This paper describes the finite volume method implemented in Code Saturne, Electricite de France general-purpose computational fluid dynamic code for laminar and turbulent flows in complex two and three- dimensional geometries. The code is used for industrial applications and research activities in several fields related to energy production (nuclear power thermal-hydraulics, gas and coal combustion, turbomachinery, heating, ventilation and air conditioning...). The set of equations considered consists of the Navier-Stokes equations for incompressible flows completed with equations for turbulence modelling (eddy-viscosity model and second moment closure) and for additional scalars (temperature, enthalpy, concentration of species, ...). The time-marching scheme is based on a prediction of velocity followed by a pressure correction step. Equations for turbulence and scalars are resolved separately afterwards. The discretization in space is based on the fully conservative, unstructured fi nite volume framework, with a fully colocated arrangement for all variables. Specic effort has been put into the computation of gradients at cell centres. Industrial applications illustrate important aspects of physical modelling such as turbulence (using Reynolds-Averaged Navier-Stokes equations or Large Eddy Simulation), combustion, conjugate heat transfer (coupled with the thermal code SYRTHES ) and fluid-particle coupling with a lagrangian approach. These examples also demonstrate the capability of the code to tackle a large variety of meshes and cell geometries, including hybrid meshes with arbitrary interfaces.