The main goal of this paper is to establish the present state of the art for wind farm control. The control area that will be focused on is the mechanical/aerodynamic part, which includes the wind turbines, their power production, fatigue and wakes affecting neighbouring wind turbines. The sub‐objectives in this area of research are as follows: (i) maximizing the total wind farm power production; (ii) following a reference for the total wind farm active power; and (iii) doing this in a manner that minimizes fatigue loading for the wind turbines in the farm. Each of these sub‐objectives is discussed, including the following important control issues: choice of input and output, control method and modelling used for controller design and simulation. The available literature from industry is also considered. Finally, a conclusion is presented discussing the established results, open challenges and necessary research. Copyright © 2014 John Wiley & Sons, Ltd.

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Abstract-This paper presents a trajectory planning algorithm for a robot operating in dynamic human environments. Environments such as pedestrian streets, hospital corridors, train stations or airports. We formulate the problem as planning a minimal cost trajectory through a potential field, defined from the perceived position and motion of persons in the environment.A Rapidly-exploring Random Tree (RRT) algorithm is proposed as a solution to the planning problem, and a new method for selecting the best trajectory in the RRT, according to the cost of traversing a potential field, is presented. The RRT expansion is enhanced to account for the kinodynamic robot constraints by using a robot motion model and a controller to add a reachable vertex to the tree.Instead of executing a whole trajectory, when planned, the algorithm uses a Model Predictive Control (MPC) approach, where only a short segment of the trajectory is executed while a new iteration of the RRT is computed.The planning algorithm is demonstrated in a simulated pedestrian street environment.

This paper introduces a new method to determine a person's pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot uses observed information from a laser range finder to detect persons and their position relative to the robot. This information together with the motion of the robot itself is fed through a Kalman filter, which utilizes a model of the human kinematic movement to produce an estimate of the person's pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The behaviour of the robot is based on adaptive potential functions adjusted accordingly such that the persons social spaces are respected. The method is tested in experiments that demonstrate the potential of the combined pose estimation and adaptive behaviour approach.

Abstract-To avoid damage to a wind turbine in the case of a fault or a large wind gust, a detection scheme for emergency shutdown is developed. Specifically, the concept of a safety envelope is introduced. Within the safety envelope, the system can be shutdown without risking structural damage to the turbine. To demarcate the boundary of the safety envelope, a protection certificate, is computed. To this end, a modelbased framework of barrier certificates is used. As a result, the protection certificate problem is formulated as a sum-ofsquares program with the optimisation criterion related to the volume of the safety envelope. The framework enables the inclusion of a bounded wind disturbance and the a priori known emergency shutdown procedure. For this purpose, the model of a wind turbine is developed that includes structural safety critical components.