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In this paper, a consensus-based model predictive control (Cb-MPC) scheme is proposed to control the active power and voltage at all nodes in grid-connected active distribution networks (ADNs) with multiple distributed energy resources (DERs). The proposed design methodology is based on a multiple-input multiple-output (MIMO) model of an ADN which accounts for both the internal and external interactions among the control loops of the DERs. To achieve the control objective, each DER unit is equipped with a controller–observer system. In particular, the observer implements the consensus algorithm to estimate the collective system state by exchanging data only with its neighbors. The scope of the controller is to solve the MPC optimal problem based on its collective state estimate, and, due to the presence of an integral term in the control action, it is robust against any unknown scenarios of the ADN, which are represented by uncertainty in the model parameters. The results of numerical simulations validate the effectiveness of the proposed method in the presence of unknown changes in the operating conditions of the ADN and of communication using a sample and hold function. [ABSTRACT FROM AUTHOR]

Distributed Energies Resources (DERs) can be controlled for supporting the voltage regulation at nodes of an Active Distribution Network (ADN) where they are connected. However, since the ADN is a Multi-Input Multi-Output (MIMO) system with coupled dynamics, the controller of a DER mutually interacts with all other controllers through the distribution lines. These interactions lead to operating conflicts which may drive the ADN to work close to its voltage stability boundaries. To achieve a stable voltage regulation without new investment in the existing ADNs, the present paper proposes a straightforward decentralized design of the multi-loop controllers based on the property of integral controllability. The main feature of the method is that the design problem can be expressed by a single parameter designed both for reducing the effects of the undesired coupling and for increasing the degree of robust stability in the presence of parameter uncertainty in the matrix plant. Simulation studies are developed to illustrate the design result and the performance achieved under different operating conditions. The performance is also compared with the one obtained by another method in terms of the integral absolute error. [ABSTRACT FROM AUTHOR]

Active Distribution Networks are Multi-Input Multi-Output (MIMO) systems with coupled dynamics, which cause interactions among the control loops of Distributed Energy Resources (DERs). This undesired effect leads to performance degradation of voltage control. To mitigate the effects of this unavoidable coupling, the present paper proposes a systematic design procedure based on the analysis of the interaction's sources. In detail, each DER is equipped with a double-loop PI to control the active and reactive power output of the voltage source converter, which connects the DER to the network's node. Furthermore, to guarantee ancillary services, the two loops are coupled by a simple mechanism of cooperation of the active power to voltage regulation realized by a filtered droop law. To achieve voltage regulation with reduced loop interactions, the PI parameters and the filter's pulse are designed according to a procedure with two sequential steps based on the Internal Model Control (IMC) technique. Simulation studies are finally presented to demonstrate that the proposed design method achieves both reduction of the loop interaction and robust voltage control in the presence of model parameter uncertainty in the MIMO plant, modeling various operating conditions of the ADN, including a step connection of large loads, renewable energy source variations, and changes in the substation transformer ratio. [ABSTRACT FROM AUTHOR]

Simple Summary: Aedes mosquitoes have been introduced into many non-native territories. These insects are often the main vectors of arboviruses such as Zika virus, West Nile virus, and Chikungunya virus. Two related species, Aedes japonicus and Aedes koreicus, originally native to East Asia, are currently expanding their range into Central and Eastern Europe. Studying these two invasive species is critical for their effective management, but there is still a lack of genome-scaled data. Here, we present the results of shallow genome sequencing of these two species. We used these data for downstream phylogenetic and barcode analyses. Our findings provide new insights into the genomics, evolution, and taxonomy of Aedes japonicus and Aedes koreicus. Aedes japonicus and Aedes koreicus are two invasive mosquitoes native to East Asia that are quickly establishing in temperate regions of Europe. Both species are vectors of arboviruses, but we currently lack a clear understanding of their evolution. Here, we present new short-read, shallow genome sequencing of A. japonicus and A. koreicus individuals from northern Italy, which we used for downstream phylogenetic and barcode analyses. We explored associated microbial DNA and found high occurrences of Delftia bacteria in both samples, but neither Asaia nor Wolbachia. We then assembled complete mitogenomes and used these data to infer divergence times estimating the split of A. japonicus from A. koreicus in the Oligocene, which was more recent than that previously reported using mitochondrial markers. We recover a younger age for most other nodes within Aedini and other Culicidae. COI barcoding and phylogenetic analyses indicate that A. japonicus yaeyamensis, A. japonicus amamiensis, and the two A. koreicus sampled from Europe should be considered as separate species within a monophyletic species complex. Our studies further clarify the evolution of A. japonicus and A. koreicus, and indicate the need to obtain whole-genome data from putative species in order to disentangle their complex patterns of evolution. [ABSTRACT FROM AUTHOR]

Despite a natural rewilding process that caused wolf populations in Europe to increase and expand in the last years, human–wolf conflicts still persist, threatening the long-term wolf presence in both anthropic and natural areas. Conservation management strategies should be carefully designed on updated population data and planned on a wide scale. Unfortunately, reliable ecological data are difficult and expensive to obtain and often hardly comparable through time or among different areas, especially because of different sampling designs. In order to assess the performance of different methods to estimate wolf (Canis lupus L.) abundance and distribution in southern Europe, we simultaneously applied three techniques: wolf howling, camera trapping and non-invasive genetic sampling in a protected area of the northern Apennines. We aimed at counting the minimum number of packs during a single wolf biological year and evaluating the pros and cons for each technique, comparing results obtained from different combinations of these three methods and testing how sampling effort may affect results. We found that packs' identifications could be hardly comparable if methods were separately used with a low sampling effort: wolf howling identified nine, camera trapping 12 and non-invasive genetic sampling eight packs. However, increased sampling efforts produced more consistent and comparable results across all used methods, although results from different sampling designs should be carefully compared. The integration of the three techniques yielded the highest number of detected packs, 13, although with the highest effort and cost. A common standardised sampling strategy should be a priority approach to studying elusive large carnivores, such as the wolf, allowing for the comparison of key population parameters and developing shared and effective conservation management plans. [ABSTRACT FROM AUTHOR]

Simple Summary: Size and shape are important features of most living beings, and the capacity of the organism to regulate size and shape during growth, containing the effects of developmental disturbances of different origins, is considered a key adaptation. Through a morphological study on the larvae of the cabbage butterfly Pieris brassicae, reared in conditions close to the natural environment, we found that the regulatory mechanisms for limiting the effects of developmental disturbances, known to be effective under strictly controlled, very stable laboratory conditions, are also effective during growth under more natural environmental conditions. This study may contribute to better characterization of these regulatory mechanisms and their combined effects in the developmental interactions between the organism and its environment. Size and shape are important determinants of fitness in most living beings. Accordingly, the capacity of the organism to regulate size and shape during growth, containing the effects of developmental disturbances of different origin, is considered a key feature of the developmental system. In a recent study, through a geometric morphometric analysis on a laboratory-reared sample of the lepidopteran Pieris brassicae, we found evidence of regulatory mechanisms able to restrain size and shape variation, including bilateral fluctuating asymmetry, during larval development. However, the efficacy of the regulatory mechanism under greater environmental variation remains to be explored. Here, based on a field-reared sample of the same species, by adopting identical measurements of size and shape variation, we found that the regulatory mechanisms for containing the effects of developmental disturbances during larval growth in P. brassicae are also effective under more natural environmental conditions. This study may contribute to better characterization of the mechanisms of developmental stability and canalization and their combined effects in the developmental interactions between the organism and its environment. [ABSTRACT FROM AUTHOR]

The investigation of species boundaries in strictly endogeic animals is challenging because they are prone to fine-scale genetic and phenotypic geographical differentiation owing to low dispersal ability. An integrative approach exploiting different sources of information has seldom been adopted in these animals and even more rarely by treating all data sources equally. We investigated species boundaries in the endogeic centipede Clinopodes carinthiacus across the south-eastern Alps by studying genetic and morphological differentiation in a sample of 66 specimens from 27 sites, complemented by the morphological examination of more than 1100 specimens from other sites. Hypotheses of species delimitation were obtained independently from the molecular sequences of three markers (mitochondrial 16S and COI and nuclear 28S) by means of different species discovery methods (automatic barcode gap discovery, assemble species by automatic partitioning, general mixed Yule coalescent and the Poisson tree process) and from ten morphological characters by means of a model-based cluster analysis and Bayesian model selection. We found strong support for the existence of at least two species: C. carinthiacus s.s. and Clinopodes strasseri , which was formerly described as a subspecies of another species, and later placed in synonymy with C. carinthiacus. The two species coexist in syntopy in at least one site. [ABSTRACT FROM AUTHOR]

High‐altitude insects are expected to be strongly affected by climate change because of their limited range. Phytophagous species will be subject to further threats because of their dependence on host plants.We investigated the impact of climate change on the distribution of Italian high‐altitude longhorn beetles (Cerambycidae) using a maximum entropy approach based on bioclimatic variables. We used 510 presence records for 15 species distributed throughout the Italian Alps and Apennines. Then, we combined climate‐based predictions with vegetation data to predict the future changes in the extent of suitable areas.All species but two will move uphill to track suitable climates and will face a range contraction (with an average loss of 44%) under both climatic change scenarios considered. Suitable vegetation covers, on average, only 56% of the estimated current species ranges, which means that the future distribution will be even more limited. Given the importance of Italian mountains as hubs of diversity in the Mediterranean hotspot, these results are particularly alarming.Conservation actions that can mitigate the effects of climate change on high‐altitude cerambycids should be focused on contrasting habitat loss and degradation through land preservation and the adoption of appropriate forest management practices. [ABSTRACT FROM AUTHOR]

This paper presents the adaptive design of an automatic voltage regulator (AVR) control scheme for synchronous generators that is capable of providing satisfactory voltage control performance in the presence of unknown variations of the power system operating conditions. The design is articulated in four steps: voltage and current phasor estimation, estimation of the parameters of the Thevenin equivalent circuit adopted to represent the power system response using a steady-state model, determination of the sampled-data transfer function of the system, and AVR design developed according to discrete-time techniques. A suitable procedure is described to derive the sampled-data transfer function of the system starting from models of the power system, synchronous generator, and exciter. The obtained transfer function depends on the estimated parameters yielded by a recursive least-squares algorithm subject to constraints deriving from the Thevenin circuit. The AVR design is based on the pole-assignment technique while the phasors estimation is performed by two Kalman filters. Finally, the results of accurate numerical simulations conducted for a test network are reported, comparing the performance of the proposed adaptive control scheme to the one of a PID controller with fixed parameters. Index Terms--Modeling, parameter estimation, pole-assignment, sampled-data systems, synchronous generators, voltage control.

For a mobile robot, odometry calibration consists of the identification of a set of kinematic parameters that allow reconstructing the vehicle's absolute position and orientation starting from the wheels' encoder measurements. This paper develops a systematic method for odometry calibration of differential-drive mobile robots. As a first step, the kinematic equations are written so as to underline linearity in a suitable set of unknown parameters; thus, the least-squares method can be applied to estimate them. A major advantage of the adopted formulation is that it provides a quantitative measure of the optimality of a test motion; this can be exploited to drive guidelines on the choice of the test trajectories and to evaluate accuracy of a solution. The proposed technique has been experimentally validated on two different mobile robots and, in one case, compared with other existing approaches; the obtained results confirm the effectiveness of the proposed calibration method. Index Terms--Calibration, identification, mobile robot kinematics, mobile robots, parameter estimation.

In order to extract efficient power generation, a wind turbine (WT) system requires an accurate maximum power point tracking (MPPT) technique. Therefore, a novel robust variable-step perturb-and-observe (RVS-P&O) algorithm was developed for the machine-side converter (MSC). The control strategy was applied on a WT based permanent-magnet synchronous generator (PMSG) to overcome the downsides of the currently published P&O MPPT methods. Particularly, two main points were involved. Firstly, a systematic step-size selection on the basis of power and speed measurement normalization was proposed; secondly, to obtain acceptable robustness for high and long wind-speed variations, a new correction to calculate the power variation was carried out. The grid-side converter (GSC) was controlled using a second-order sliding mode controller (SOSMC) with an adaptive-gain super-twisting algorithm (STA) to realize the high-quality seamless setting of power injected into the grid, a satisfactory power factor correction, a high harmonic performance of the AC source, and removal of the chatter effect compared to the traditional first-order sliding mode controller (FOSMC). Simulation results showed the superiority of the suggested RVS-P&O over the competing based P&O techniques. The RVS-P&O offered the WT an efficiency of 99.35%, which was an increase of 3.82% over the variable-step P&O algorithm. Indeed, the settling time was remarkably enhanced; it was 0.00794 s, which was better than for LS-P&O (0.0841 s), SS-P&O (0.1617 s), and VS-P&O (0.2224 s). Therefore, in terms of energy efficiency, as well as transient and steady-state response performances under various operating conditions, the RVS-P&O algorithm could be an accurate candidate for MPP online operation tracking. [ABSTRACT FROM AUTHOR]

Control is a way to improve a system behavior/performance by adding additional functional components and revising the system structure to form a closed-loop framework with adaptation and robustness to the uncertainties. In addition, to overcome the parameter estimation difficulties arising from the model nonlinearities and the lack of information on the possible value ranges of parameters to be estimated, a constrained guided parameter estimation scheme was derived based on model equations and experimental data. Systems are naturally or purposely formed with functional components and connection structures. The adjustment gain was multiplied by the baseline controller gain to increase/decrease the overall gain of the system to improve the system's performance and robust stability, so that the system had the ability to return to the nominal state when it was affected by various uncertainties and deviated from the nominal state or even destabilized. [Extracted from the article]