Sai Krishna Kanth Hari

Sai Krishna Kanth Hari, Kaarthik Sundar, Harsha Nagarajan et al.

In recent years, microgrids, i.e., disconnected distribution systems, have received increasing interest from power system utilities to support the economic and resiliency posture of their systems. The economics of long distance transmission lines prevent many remote communities from connecting to bulk transmission systems and these communities rely on off-grid microgrid technology. Furthermore, communities that are connected to the bulk transmission system are investigating microgrid technologies that will support their ability to disconnect and operate independently during extreme events. In each of these cases, it is important to develop methodologies that support the capability to design and operate microgrids in the absence of transmission over long periods of time. Unfortunately, such planning problems tend to be computationally difficult to solve and those that are straightforward to solve often lack the modeling fidelity that inspires confidence in the results. To address these issues, we first develop a high fidelity model for design and operations of a microgrid that include component efficiencies, component operating limits, battery modeling, unit commitment, capacity expansion, and power flow physics; the resulting model is a mixed-integer quadratically-constrained quadratic program (MIQCQP). We then develop an iterative algorithm, referred to as the Model Predictive Control (MPC) algorithm, that allows us to solve the resulting MIQCQP. We show, through extensive computational experiments, that the MPC-based method can scale to problems that have a very long planning horizon and provide high quality solutions that lie within 5\% of optimal.

Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha et al.

Persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. UAVs can be gainfully employed to continually visit a set of targets representing tasks (and locations) in the environment and collect data therein for long time periods. The enduring nature of these missions requires the UAV to be regularly recharged at a service station. In this paper, we consider the case in which the service station is not co-located with any of the targets. An efficient monitoring requires the revisit time, defined as the maximum of the time elapsed between successive revisits to targets, to be minimized. Here, we consider the problem of determining UAV routes that lead to the minimum revisit time. The problem is NP-hard, and its computational difficulty increases with the fuel capacity of the UAV. We develop an algorithm to construct near-optimal solutions to the problem quickly, when the fuel capacity exceeds a threshold. We also develop lower bounds to the optimal revisit time and use these bounds to demonstrate (through numerical simulations) that the constructed solutions are, on an average, at most 0.01% away from the optimum.

Sai Krishna Kanth Hari, Sivakumar Rathinam, Swaroop Darbha et al.

We consider the problem of planning a closed walk $\mathcal W$ for a UAV to persistently monitor a finite number of stationary targets with equal priorities and dynamically changing properties. A UAV must physically visit the targets in order to monitor them and collect information therein. The frequency of monitoring any given target is specified by a target revisit time, $i.e.$, the maximum allowable time between any two successive visits to the target. The problem considered in this paper is the following: Given $n$ targets and $k \geq n$ allowed visits to them, find an optimal closed walk $\mathcal W^*(k)$ so that every target is visited at least once and the maximum revisit time over all the targets, $\mathcal R(\mathcal W(k))$, is minimized. We prove the following: If $k \geq n^2-n$, $\mathcal R(\mathcal W^*(k))$ (or simply, $\mathcal R^*(k)$) takes only two values: $\mathcal R^*(n)$ when $k$ is an integral multiple of $n$, and $\mathcal R^*(n+1)$ otherwise. This result suggests significant computational savings - one only needs to determine $\mathcal W^*(n)$ and $\mathcal W^*(n+1)$ to construct an optimal solution $\mathcal W^*(k)$. We provide MILP formulations for computing $\mathcal W^*(n)$ and $\mathcal W^*(n+1)$. Furthermore, for {\it any} given $k$, we prove that $\mathcal R^*(k) \geq \mathcal R^*(k+n)$.