The predicted growth of urban populations has prompted researchers and administrations to improve services provided to citizens. At the heart of these services are wireless networks of multiple different sensors supported by the Internet of Things. The main purpose of these networks is to provide sufficient information to achieve more intelligent transport, energy supplies, social services, public environments (indoor and outdoor) and security, etc. Two major technological advances would improve such networks in Smart Cities: efficient communication between nodes and a reduction in each node's power consumption. The present paper analyses how event-based sampling techniques can address both challenges. We describe the fundamentals of the triggering mechanisms that characterise Send-on-Delta, Send-on-Area, Send-on-Energy and Send-on-Prediction techniques to restrict the number of transmissions between the sensor node and the supervision or monitoring node without degrading tracking of the sensed variable. At the same time, these aperiodic techniques reduce consumption by sensor node electronic devices. In order to quantify the energy savings, we evaluate the increase achieved in the average lifetime of sensor node batteries. The data provided by Smart City tools in the city of Santander (Spain) were selected to conduct a case study of the main pollutants that determine city air quality: SO 2 , NO 2 , O 3 and PM 10 . We conclude that event-based sensing techniques can yield up to 50% savings in sensor node consumption compared to classical periodic sensing techniques.INDEX TERMS Air quality monitoring, event-based sampling, sensor energy saving, smart cities technologies, wireless sensor network.

In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communication in comparison with periodic implementations, while preserving the desired tracking performance. To validate the proposal, we also perform experimental tests with robots remotely controlled by a mini PC through an IEEE 802.11g wireless network, in which robots pose is detected by a set of camera sensors connected to the same wireless network.

Encouraged by the considerable cost reduction, small-scale solar power deployment has become a reality during the last decade. However, grid integration of small-scale photovoltaic (PV) solar systems still remains unresolved. High penetration of Renewable Energy Sources (RESs) results in technical challenges for grid operators. To address this, Virtual Power Plants (VPPs) have been defined and developed to manage distributed energy resources with the aim of facilitating the integration of RESs. This paper introduces a hybrid irradiance forecasting approach aimed at facilitating the integration of PV systems into a VPP, especially when a historical irradiance dataset is exiguous or non-existent. This approach is based on Artificial Neural Networks (ANNs) and a novel similar hour-based selection algorithm, has been tested for a real PV installation, and has been validated also considering irradiance measurements from an aggregation of ground-based meteorological stations, which emulate the nodes of a VPP. Under a reduced historical dataset, the results show that the proposed similar hour-based method produces the best forecasts with regard to those obtained by the ANN-based approach. This is particularly true for one-month and two-month datasets minimizing the mean error by 16.32% and 9.07% respectively. Finally, to demonstrate the potential of the proposed approach, a comparative analysis has been carried out between the hybrid method and the most used benchmarks in the literature, namely, the persistence method and the method based on similar days. It has been demonstrated conclusively that the proposed model yields promising results regardless the length of the historical dataset.

Since the advent of the microgrid (MG) concept, almost two decades ago, the energy sector has evolved from a centralized operational approach to a distributed generation paradigm challenged by the increasing number of distributed energy resources (DERs) mainly based on renewable energy. This has encouraged new business models and management strategies looking for a balance between energy generation and consumption, and promoting an efficient utilization of energy resources within MGs and minimizing costs for the market participants. In this context, this paper introduces an efficient management strategy, which is aimed at obtaining a fair division of costs billed by the utilities, without relying on a centralized utility or MG aggregator, through the design of a local event-based energy market within the MG. This event-driven MG energy market operates with blockchain (BC) technology based on smart contracts for electricity transactions to both guarantee veracity and immutability of the data and automate the transactions. The event-based energy market approach focuses on two of the design limitations of BC, namely the amount of information to be stored and the computational burden, which are significantly reduced while maintaining a high level of performance. Furthermore, the prosumer data is obtained by using IEC 61850 standard-based commands within the BC framework. By doing so, the system is compatible with any device irrespective of the manufacturer implementing the IEC 61850 standard. The advantages of this management approach are considerable for: MG participants, in terms of financial benefits; the MG itself, as it can operate more independently from the main grid; and the grid since the MG becomes less unpredictable due to the internal energy exchanges. The proposed strategy is validated on an experimental setup employing low-cost devices.

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This paper describes a practical approach to the transformation of Base Transceiver Stations (BTSs) into scalable and controllable DC Microgrids in which an energy management system (EMS) is developed to maximize the economic benefit. The EMS strategy focuses on efficiently managing a Battery Energy Storage System (BESS) along with photovoltaic (PV) energy generation, and non-critical load-shedding. The EMS collects data such as real-time energy consumption and generation, and environmental parameters such as temperature, wind speed and irradiance, using a smart sensing strategy whereby measurements can be recorded and computing can be performed both locally and in the cloud. Within the Spanish electricity market and applying a two-tariff pricing, annual savings per installed battery power of 16.8 euros/kW are achieved. The system has the advantage that it can be applied to both new and existing installations, providing a two-way connection to the electricity grid, PV generation, smart measurement systems and the necessary management software. All these functions are integrated in a flexible and low cost HW/SW architecture. Finally, the whole system is validated through real tests carried out on a pilot plant and under different weather conditions.

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In recent years, high-speed navigation and environment interaction in the context of aerial robotics has become a field of interest for several academic and industrial research studies. In particular, Search and Intercept (SaI) applications for aerial robots pose a compelling research area due to their potential usability in several environments. Nevertheless, SaI tasks involve a challenging development regarding sensory weight, onboard computation resources, actuation design, and algorithms for perception and control, among others. In this work, a fully autonomous aerial robot for high-speed object grasping has been proposed. As an additional subtask, our system is able to autonomously pierce balloons located in poles close to the surface. Our first contribution is the design of the aerial robot at an actuation and sensory level consisting of a novel gripper design with additional sensors enabling the robot to grasp objects at high speeds. The second contribution is a complete software framework consisting of perception, state estimation, motion planning, motion control, and mission control in order to rapidly and robustly perform the autonomous grasping mission. Our approach has been validated in a challenging international competition and has shown outstanding results, being able to autonomously search, follow, and grasp a moving object at 6 m/s in an outdoor environment.