Abstract: A system and method for installing solar panels are provided. The method includes obtaining images of solar panels an installation structure during installation. The method also includes pre-processing the images by compensating for camera intrinsics or distortions, rectifying the images, and/or determining depth information. The method also includes detecting the solar panels by inputting the images into neural networks. The method also includes a first post-processing to compute a first panel pose based on an output of the neural networks. The method also includes generating control signals, based on the first panel pose, for operating a robotic controller for installing the solar panels. In some embodiments, the method also includes homography transforms to obtain a second panel pose, based on the first panel pose and visual patterns or fiducials on a solar panel, and generating the control signals further based on the second panel pose.

Abstract: A system and method for installing solar panels are provided. The method obtains an image of a solar panel during an in-progress solar installation and estimates features of the solar panel based on a first image using distance simulation, geometric correction, and/or angular adjustment. The method also generates control signals, based on the estimated features, for operating a robotic controller for picking the solar panel. The method also obtains a second image of the solar panel when the solar panel is in a perspective view and detects placement of the solar panel based on the image by determining if the solar panel is co-planar with and at a predetermined offset from a fixed solar panel. Based on the detected placement, control signals are generated for operating a second robotic controller for aligning the solar panel with the fixed solar panel.

Abstract: A system and method for installing solar panels are provided. The method includes obtaining an image of an in-progress solar installation. The image includes an image of one or more solar panels and one or more torque tubes. The method also includes detecting solar panel segments by inputting the image to a trained neural network that is trained to detect solar panels in poor lighting conditions. The method also includes estimating panel poses for the one or more solar panels, based on the solar panel segments, using a computer vision pipeline. The method also includes generating control signals, based on the estimated panel poses, for operating a robotic controller for installing the one or more solar panels.

Abstract: A method and system for operating a wind farm by reconciling performance and operational constraints is disclosed. A wind farm may be subject to wakes, thereby reducing performance In order to lessen the effects of wakes, wake steering of the wind turbines may be performed. Specifically, both an operationally-independent analysis (such as by using a computational fluid dynamic model) and an operationally-dependent analysis may be performed, and the outputs of each analysis may be reconciled in order to determine whether (and how much) to wake steer.

Abstract: An exemplary system for determining an operating condition for a wind turbine having a rotor, generator, and gearbox, includes a plurality of sensors mounted within the nacelle of the wind turbine. The system also includes a pair proximity sensors are mounted adjacent to the rotor for measuring rotor displacement. A first processor is connected to receive sensor data from the pair of proximity sensors and is configured to partition the received sensor data into predefined datasets, and a second processor configured to format the predefined datasets for transmission over a network to a processing computer.

Abstract: A system for installing a solar panel may include a first end-of-arm assembly tool coupled to a first robotic arm and part of a first assembly robot and a second end-of-arm assembly tool coupled to a second robotic arm and part of a second assembly robot. The first and the second end-of-arm assembly tools have different tooling and perform different functions to assembly solar panels to support structure. The first assembly robot and the second assembly robot may be located on autonomous and non-autonomous vehicles and the various components can be operated by a control system based on operation instructions received from a neural network.

Abstract: A method and system for optimizing and keeping operational a wireless link layered network in which a system control and modifying message (SCMM) is elicited from nodes receiving information packets and based upon whether the node originating the SCMM is from a link layer level which is equal to or less than the link layer level eliciting the SCMM, rerouting or adjusting future transmissions can be effected or items like a less current time at a receiving node and a most recent utilization rate of a receiving node can be adjusted, recorded or set.

Abstract: A system for installing a solar panel may include an end of arm assembly tool and a linear guide assembly coupled to the end of arm assembly tool. The end of arm assembly tool includes a frame and plurality of attachment devices, such as suction cups, coupled to the frame. The linear guide assembly includes a linearly moveable clamping tool including an engagement member configured to engage a clamp assembly slidably coupled to an installation structure, and a force torque transducer configured to move the clamping tool along the installation structure. A controller configured to control the force torque transducer and the plurality of attachment devices. The end of arm assembly tool is coupled to a robotic arm and is part of an assembly robot that includes autonomous and non-autonomous vehicles. The various components can be operated by a control system based on operation instructions received from a neural network.

Abstract: A method of selecting and connecting power subsystems, the method including: locating, by a mobile robot including a processor and a motor, at least one of a first storage subsystem, a first power subsystem, or a first control subsystem; attaching, by the mobile robot, to the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem; moving, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to another location; and connecting, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to at least one of a second storage subsystem, a second power subsystem, or a second control subsystem located at the other location.

Abstract: An exemplary system for determining an operating condition for a wind turbine having a rotor, generator, and gearbox, includes a plurality of sensors mounted within the nacelle of the wind turbine. The system also includes a pair proximity sensors are mounted adjacent to the rotor for measuring rotor displacement. A first processor is connected to receive sensor data from the pair of proximity sensors and is configured to partition the received sensor data into predefined datasets, and a second processor configured to format the predefined datasets for transmission over a network to a processing computer.

Abstract: Approaches for managing and maintaining a state of charge of an energy storage device by adjusting (biasing) responses to electrical grid operator commands to perform ancillary services are disclosed. In embodiments, methods and systems regulate a set point regulation in an energy system. In an embodiment, a method determines when the set point needs to be changed, calculates a new set point, and moves the output of the system from an old set point to the new set point at a defined ramp rate. The method then incorporates, as part of a set point algorithm, the capability to restore the energy storage device to a desirable state of charge (SOC). Embodiments implement Dynamic Bias, SOC and Signal Bias Range Maintaining, Operational Limits, and Fixed Signal Bias algorithms and perform Intelligent Algorithm Selection to manage and maintain the SOC of an energy storage device by biasing responses to grid operator commands.

Abstract: A method and system for optimizing and keeping operational a wireless link layered network in which a system control and modifying message (SCMM) is elicited from nodes receiving information packets and based upon whether the node originating the SCMM is from a link layer level which is equal to or less than the link layer level eliciting the SCMM, rerouting or adjusting future transmissions can be effected or items like a less current time at a receiving node and a most recent utilization rate of a receiving node can be adjusted, recorded or set.

Abstract: A method of managing energy service for a plurality of assets of different types connected to a plurality of grid connection points includes determining, by a respective asset, a quantity of the energy service to be realized by the respective asset during a connection event; responsive to the respective asset being of a first type; detecting a grid connection point identifier that identifies an associated grid connection point associated with the respective asset of the first type used for the connection event; and sending, by the respective asset, connection event information, wherein the connection event information includes at least one of: the determined quantity of the energy service and an asset identifier, responsive to the respective asset not being of the first type; or the determined quantity of the energy service and the detected grid connection point identifier, responsive to the respective asset being of the first type.

Abstract: Methods and apparatus for managing energy services are disclosed. One method includes determining a quantity of the energy service realized during the connection event; identifying an account associated with the grid connection point; and adjusting the identified account based on the quantity determined. Another method includes receiving an indicator indicating an asset identifier or a grid connection point identifier; determining a location of the asset on the grid based on the indicator; determining operating conditions for realizing the energy service based on the determined location; sending the conditions; identifying an account associated with the point based on the indicator; and adjusting the account based on a quantity of energy services realized by the asset in accordance with the conditions.

Abstract: An exemplary power system includes a DC power bus and a photovoltaic system connected to the DC power bus. An energy storage system is connected to the DC power bus and stores energy injected to the DC power bus by the photovoltaic system. A power inverter is connected to the DC power bus and converts power between the DC power bus and an AC connected load. The power system also includes a control system that receives power system data from one or more sub-systems and devices connected to the DC power bus, and controls, in real-time, one or more of the power inverter and the energy storage system to act as a load on the DC power bus based on the received power system data.

Abstract: A method for controlling a wind turbine via an ultrasonic wind sensor includes: transmitting, by a first ultrasonic transceiver, an ultrasonic packet at a first time and receiving, by a second ultrasonic transceiver, the ultrasonic packet at a second time; identifying wind properties based on the first time and the second time; transmitting the identified wind properties to a programmable logic controller (PLC) interfaced with the wind sensor and a turbine controller, wherein the interface with the turbine controller includes one of a plurality of communication topologies; processing the identified wind properties for output to the turbine controller based on a specific communication topology, wherein the PLC is configured to process the identified wind properties for output based on each of the plurality of communication topologies; transmitting the processed wind properties to the turbine controller; and controlling, by the turbine controller, a wind turbine based on the wind properties.

Abstract: A method of selecting and connecting power subsystems, the method including: locating, by a mobile robot including a processor and a motor, at least one of a first storage subsystem, a first power subsystem, or a first control subsystem; attaching, by the mobile robot, to the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem; moving, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to another location; and connecting, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to at least one of a second storage subsystem, a second power subsystem, or a second control subsystem located at the other location.

Abstract: Methods and apparatus for managing at least one renewable energy source for supply of power via an electric grid are disclosed. A method supplies power to mobile devices from the renewable energy source and balances power realized by the mobile devices with the supply of power from the renewable energy source by controlling the supply of power realized by the mobile devices. An apparatus includes a processor for monitoring power from the renewable energy source and sending signals to mobile devices connected to the electric grid to balance monitored power from the renewable energy source with power realized by the mobile devices. Another method identifies a fixed account associated with a grid connection point used by a plug-in electric vehicle for realizing power during a connection event; determines a quantity of energy realized during the event; and adjusts the account based on energy realized by the vehicle during the event.

Abstract: A method of selecting and connecting power subsystems, the method including: locating, by a mobile robot including a processor and a motor, at least one of a first storage subsystem, a first power subsystem, or a first control subsystem; attaching, by the mobile robot, to the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem; moving, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to another location; and connecting, by the mobile robot, the at least one of the first storage subsystem, the first power subsystem, or the first control subsystem to at least one of a second storage subsystem, a second power subsystem, or a second control subsystem located at the other location.

Abstract: A manhole cover including: a frame located at the edges of the manhole cover which completely surrounds the manhole cover; a plurality of slats that are spaced apart and parallel to each other; a plurality of lateral bracings that are spaced apart and parallel to each other, wherein the lateral bracings are perpendicular to the slats; and a hinged access portion located in the center of the manhole cover that is connected to a main portion of the manhole cover by a hinge, and all edges of the hinged access portion are spaced away from the frame.