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This work considers the optimal scheduling problem for a campus central plant equipped with a bank of multiple electrical chillers and a thermal energy storage (TES). Typically, the chillers are operated in ON/OFF modes to charge TES and supply chilled water to satisfy the campus cooling demands. A bilinear model is established to describe the system dynamics of the central plant. A model predictive...
Segmentation and mapping of planar building facades (PBFs) can increase a robot's ability of scene understanding and localization in urban environments which are often quasi-rectilinear and GPS-challenged. PBFs are basic components of the quasi-rectilinear environment. We propose a passive vision-based PBF segmentation and mapping algorithm by combining both appearance and geometric constraints. We...
We develop algorithms that can assist robot to perform building exterior mapping, which is important for building energy retrofitting. In this task, a robot needs to identify building facades in its localization and mapping process, which in turn can be used to assist robot navigation. Existing localization and mapping algorithms rely on low level features such as point clouds and line segments and...
The building thermal capacity can be used for shifting on-peak load and reducing peak cooling/heating in commercial and residential buildings. The optimization of the pre-cooling/pre-heating is a complicated problem of several major factors, including utility rates, load profiles, building storage characteristics and weather conditions. This paper introduces an intelligent search algorithm, Particle...
Buildings consume around 40% of overall energy in the world. Planar mirror detection problem (PMDP) arises when surveying reflective building surface for building energy retrofit. PMDP is also important for collision avoidance when robots navigate close to highly reflective glassy walls. Our approach uses two views from an on-board camera. First, we derive geometric constraints for corresponding real-virtual...
Building simulation models play a vital role in optimal building climate control, energy audit, fault detection and diagnosis, continuous commissioning, and planning. Real system parameters are often unknown or partially unknown and need to be identified through historical data, which are currently acquired by heuristically designed experiments. Without quality sensor data, model calibration is prone...
To facilitate scene understanding and robot navigation in a modern urban area, we design a multilayer feature graph (MFG) based on two views from an on-board camera. The nodes of an MFG are features such as scale invariant feature transformation (SIFT) feature points, line segments, lines, and planes while edges of the MFG represent different geometric relationships such as adjacency, parallelism,...
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