Professional Documents
Culture Documents
A Smart Energy System: Distributed Resource Management, Control and Optimization
A Smart Energy System: Distributed Resource Management, Control and Optimization
A Smart Energy System: Distributed Resource Management, Control and Optimization
Abstract—This paper presents a novel concept of distributed aspect of a building energy management network, a more
energy resource and consumption management, which proposes efficient energy management system, such as a distributed
to design a networked and embedded platform for realizing a agent-based solution [2], should be considered to control
dynamic energy mix and optimizing the energy consumption dy-
namically. Based on heterogeneous wireless sensor networks and the energy units (producer, consumer, storage, etc.) of the
a local Web of Things platform, the environmental parameters building locally and autonomously towards interactions with
and energy data can be acquired and processed in a distributed the environment, in order to optimize the building energy
manner in real time. In order to improve understanding on consumption dynamically.
how different environmental factors and user behaviors influence
the end use of energy, we propose a User Profiling module to People have only a vague idea of how much energy they are
investigate the characterization of user’s goals and behaviors using for different purposes and what sort of difference they
in terms of energy consumption. Besides the wireless sensor could make by changing day-to-day behavior or investing in
networks, the User Profiling module acquires data also from efficiency measures. Key issues are for instance the lack of real
a questionnaire which mainly concerns four categories, i.e.
characteristics of the residents, electrical appliances, attitudes
time information management around consumption [3] and the
towards energy and building structural information. influence of energy use information on energy-saving behavior
Furthermore, based on the real-time information from the [4]. Hence, in this work we propose a distributed energy
sensor network platform and the user profiling module, an resource management as the infrastructure of the Smart Energy
embedded Resource and Consumption Controller will then adapt system, which uses Web services based on a WoT (Web of
automatically for instance the regulation processes of energy
consumption in a household locally for the users, so that the
Things) platform [5], [6] to integrate sensor networks with
costs of all energy resources will not exceed the predetermined existing IT systems as part of distributed applications. With
budget and be regulated in a user-preferred way. this distributed architecture, we introduce a questionnaire-
Index Terms—User profiling, Web of Things, energy manage-
based User Profiling (UP) as the central module of the system
ment, multi-agent systems, PID controller, dynamic energy mix. to correlate the consumption behaviors with the user’s prefer-
ences by means of user profiles. The Smart Energy system
forwards then the preference information to Resource and
Consumption Controller (RCC) for determining the controller
I. I NTRODUCTION
parameters dynamically. The controller is configured to control
decision-making imposes corrective actions locally, such distributed multi-agent system for the matching of energy re-
as a multi-agent system [11]. source units and consuming units in a microgrid. The proposed
The rest of the paper is organized as follows: In the next BDI (believe-desire-intent) architecture adopts all agents and
section, we will review the state of the art in multi-agent delegate agents individually for local tasks according to the
systems in Microgrids. In Sec. III, we focus on the proposed characteristics of the energy resources and load, and realizes
Smart Energy system. The system components will be detailed under considering the dynamic pricing mechanism an energy
individually in terms of their functionalities and interactions exchange between the supplying units and the local user. But
with each other. Finally, Sec. IV concludes the paper. the multiplicity of the existing energy dispatch approaches
which try to match generated power with consumed power, im-
II. R ELATED W ORK plies that no ideal solution guarantees the market clearing [2].
Trading and meta-heuristic algorithms are the most popular for
In recent years, multi-agent systems (MAS) [12] have been now, such as auction algorithms based on agents’ negotiation
proposed to provide various power engineering applications [15], [18], PoolCo algorithm based on an energy market and
[13], such as intelligent energy control and management sys- schedules [16], and artificial intelligence (AI) algorithms [21]
tems in microgrids [14]. Many previous works have proposed like genetic algorithms, particle swarm optimization and ant
multi-agent system architectures that deal with buying and colonies using a single central agent for the optimization.
selling of energy within a microgrid and algorithms for auction
systems. Most of them [15]–[18] use a two- or three-layered From the point of view of MAS applications, Funabashi
architecture. et al. [17] present a trading method based on a hierarchical
MGCC (Microgrid Central Controller) [15] and Power- multi-agent architecture for the power market of a microgrid.
Matcher (a market-based control concept) [19] both employ Another hierarchical multi-agent system architecture [22] is
a kind of central controller agent to optimize the control of proposed for a power distribution network, with lower layer
microgrids by coordinating the local controllers accordingly agents for sensing the absence of energy and higher layer
for the energy exchange of the local loads and the production agents for restoring energy by negotiating with their peers.
units. A central coordination or a hierarchical coordination The use of a multi-agent system to control a small microgrid
could not exclude any single point of failure and may have that comprises PV generators, batteries and controllable loads
scalability problems. Therefore, Qiu et al. [20] propose a is discussed by Dimeas and Hatziargyriou [15], [23], [24]. A
control strategy for buying energy from the distributed energy 1) Application of an open architecture
resources (DER) to meet the demand at lowest possible price 2) Significant changes in consumer behavior of energy use
is presented by Qiu et al. [20]. Another scalable multi-agent The overall procedure with information flow within the
system for microgrids is proposed by Logenthiran et al. [16], whole system is illustrated in Figure 2 and Table I
which realizes bidding for buying and selling power within a
microgrid by the Load controllers and the same bidding but TABLE I
A N OVERVIEW OF THE INTERACTIONS BETWEEN DERM, UP AND RCC
at a high level of several microgrids by microgrid controllers.
Some other applications using multi-agent systems [15], [25] No. Interaction
emphasize control and communication strategies, which cope 01 The first block defines the infrastructure of this web-based
with energy trading within a microgrid through load agents system: DERM, which collects the sensor data (energy,
environment, etc.) of heterogeneous wireless sensor networks
(operating the loads) and DER agents (controlling the DER and classifies situational activities of energy consumption.
resources). The last application which is to be mentioned is
the multi-agent based energy management system from Feroze 02 The energy-related sensor value and classification information
are forwarded to the UP module and integrated with the
[14], which monitors voltage level from the main grid, controls questionnaire data into the data acquisition subprocess.
the status of the main circuit breaker, monitors and controls
the power consumption by each load in the example microgrid 03 Through classification, aggregation and correlation algorithms,
divers user profiles can be generated in terms of requirements
community of five houses, monitors and controls the power of energy consumption.
supplied by the DER units and the on/off status of each load
by controlling the electronic circuit breaker associated with it. 04 The preference information decides the controller parameters
(kp (t), ki (t) and kd (t)) in RCC.
We note that in most of the previous multi-agent systems in
microgrids, an automated agent technology is used to establish 05 Accordingly, the adapted PID controller regulates the energy
a distributed control architecture instead of SCADA (Super- mix subprocess with respect to the optimization of budget use,
in order to satisfy the load demand with less power source which
visory Control and Data Acquisition) systems for the power is bought from the grid.
operation system at a grid level. However, The focus of this
paper is to discuss a distributed architecture of local energy
consumption management in the context of a distributed smart
A. Distributed Energy Resource Management
building located at a distribution level.
Distributed Energy Resources (DER) are used in many
publications as a synonym of Distributed Generation (DG)
III. S YSTEM D ESIGN
[27], which are electric generation units located within the
In our Smart Energy System, we propose to design a multi- electric distribution system at or near the end user. However,
layered architecture consisting of three functional modules: in this paper we use the term “Distributed Energy Resource
• Distributed Energy Resource Management (DERM): Management (DERM)” to propose a distributed resource man-
for energy consumer and pricing information, and energy- agement architecture to create a WoT platform of energy
related environmental information based on the local information in both local and global views, whose topology
WoT platform is Mesh like as shown in Figure 1, DERM part. In this
• User Profiling (UP): for matching divers users’ prefer- architecture, there are stand-alone local WoT platforms for
ences, like means of getting energy feedbacks (in a more each WoT domain, which gives an aspect of local resource
visible way or a typically numerical way), attitudes of management. Then an add-on middleware can interconnect
budget use those local WoT platforms as a global network. This method
• Resource and Consumption Controller (RCC): for decentralizes the resource management and solves the problem
realizing a dynamic energy mix and optimizing consump- of total dependency.
tion control Each our local WoT domain is a smart resource management
The basic illustration of the system architecture is depicted environment [28], which employs µPart sensor nodes [29]
in Figure 1. The entire Smart Energy network is inspired from to detect movement around the chairs, the tables or of the
the Internet of Things (IoT) [26], which establishes a connec- devices, and to monitor temperature and lighting status in the
tion for real-time communication between system components rooms. Each socket is equipped with a Plugwise1 Circle and
(e.g. heterogeneous sensor networks, control loops, etc.) and each heater is controlled with FHT2 sensor and actuator. As
systems (e.g. DERM, UP and RCC). In order to meet the the penetration of renewable energy continues to increase, not
customers’ requirements of energy consumption and control, only a smart grid must have real-time information of renewable
based on feedbacks of the User Profiling module, the RCC can energy, but also our small-scale energy system have to manage
provide them with certain adequate energy control with respect the renewable energy information of e.g. wind and solar. The
to energy resources and consumers. Thus the information of different energy resources with their availability and price
passive consumption behaviors can be transformed into an information from all WoT domains are categorized into two
active optimization of energy consumption. Ultimately this types: Local Resources and Remote Resources, which will be
Smart Energy solution with the visible and amenable energy 1 http://www.plugwise.com/idplugtype-e/how-does-it-work
feedbacks can change their energy use behaviors and attitudes, 2 FHT is a German wireless thermostat, which enables a convenient and
which describes the character of: direct control of the supplied actuator for heater-controlling
Fig. 2. A flow chart of proposed Smart Energy system between all three modules
transmitted forward as inputs to the Energy Mix process of This prototype idea not only provides an information man-
RCC, see more in Section III-C. agement system of energy resource and pricing for the RCC-
The entire sensing network consists of three heterogeneous based energy consumption control, but also enables web-
sensor network components, each has three parts: Monitor- based energy-saving applications, such as a smart heating
ing/Control Terminal (uBox), Base Station and Sensor Nodes. system, which can set all thermostats in the room via the
2
• µParts: are 1cm low power wireless sensor nodes with FHT80b actuator according to the average temperature value
temperature, light and movement sensors. The D-Bridge of personal preferences.
[30] serves as a programmable base station for µPart, 1) Environmental Impact: As we know, the prediction
which receives µPart packets and forwards them to uBox or day-ahead plan of the energy demand for customers is
network manager via PUT Requests, see Figure 3 a). currently still a lump-sum estimation, which is not adapted
• Plugwise-Network: measures the energy consumption of to the dynamically changing real-time power consumption.
connected appliances and switch them on/off with the However, it was shown that a distributed architecture with
plug. The Plugwise Stick receives data from and transmits wireless sensor technology [31] for various environmental
tasks to the installed Plugwise Circles, see Figure 3 b). factors, like location, weather, device operating mode, device’s
• FHZ-Network: a FHT thermostat measures the room nominal power, etc. have a significant impact on the power
temperature. Based on the embedded receiver module, demand. Determining or at least estimating these factors in real
the thermostat can communicate wirelessly with the FHZ time enables spatially fine-grained evaluation and control of
base station, see Figure 3 c). power consumption, so that energy management systems can
optimize dynamically the intraday prognosis based on the day-
ahead power demand plan, which refers directly to reducing
the monetary loss [31].
2) Energy-related Classification: In order to gain a more
in-depth knowledge of the environmental impact on the local
energy consumption, we design a energy-related classification
process consisting of four functional steps:
1) environmental and energy data acquisition through light-
weight WSNs based on µPart sensor nodes and “Plug-
wise” power plug;
2) interpretation of the in real time acquired temperature,
lighting, movement and energy data through different
abstraction levels of energy-related contextual informa-
Fig. 3. Sensors and actuators with network manager: a) sensor node µPart and tion:
base station “D-Bridge”; b) sensor node Plugwise and base station “Stick”;
c) sensor node FHT and base station FHZ; d) network manager uBox • Low level contexts, e.g. window open/closed, day or
night, which can be derived directly from the raw
The uBox middleware is based on a layered abstraction. sensor data of the µParts fixed on the windows.
Each layer can be manipulated via RESTful interface. If • High level contexts, e.g. user is working on PC,
sensors or actuators register to this platform by POSTing user has left the office or meeting is being held,
themselves and the users or applications within the network such situational information could only be classified
can discover them and utilize them with a simple unified HTTP through combination of various low level contexts.
based interface. 3) correlation of different local interpretations for a global
On the top layer, users can e.g. generate HTTP requests view of the monitored situation. The collected sensor
which dynamically aggregate power sensors tagged as “light” data and contextual information are assumed to be
and located within 1000m circle from coordinates (49.00, 8.38) temporally dynamical and have uncertain effects on an
and process the average value for each unit. Feature generation environment, so we model the correlation module as a
or classification of your own can be added to the uBox with MDP (Markov Decision Process) using HMM (Hidden
posting server-side JavaScript. Markov Models) method:
• observable states: such as time of day, internal 3) Energy
temperature and the status of devices 4) Building
• hidden states: such as the performing task of the • Aggregator/Correlator: A mechanism (Correlator, see
users like working on computer, holding a meeting, Figure 1 and 2) for characterizing users’ consumption be-
etc., and the health status of the individual haviors and goals, such as Bayesian Networks represent-
4) the output of the correlation algorithm will then give a ing uncertain relationships among variables of behavior in
decision-making algorithm a proper energy-saving con- the consumption domain, Association Rules discovering
text as input through a certain information management certain association relationship among the set of con-
system to motivate the actuators, such as turn off the sumption objects (residents, appliances and buildings) or
heating system after the meeting or the lights and moni- Case-based Reasoning representing the similarity among
tors according to the presence of users, etc. As actuators the set of consumption objects in the same domain.
we utilize “Plugwise” for controlling on/off state of • User Profiles: To define the configuration of RCC and
the power plug via ZigBee and “FHT” for controlling the way of energy feedbacks in DERM, the contents of
heater via wireless network. A web-based environment each user profile are listed in Figure 4. Where {0, 1}
has been implemented, which could visualize the real- of building structure and energy feedback stands for
time sensor data and realize device control via RESTful {apartment, house} and {email, display} respectively,
interfaces. and [0 3] of the other three preference contents corre-
Besides the questionnaire, the above described classifica- sponds to “no knowledge” (0), “low” (1), “intermediate”
tion is aggregated providing inputs for user profiling, which (2) and “high” (3). The value of consumption behavior
includes the interaction of users with the home/office envi- implies the consequent energy awareness.
ronment, the status of the available appliances, etc. Thus,
the user’s goals, user behaviors and the user’s interaction
preferences in terms of energy consumption in the home/office
area represent in this case the main contents of user profiles.
Fig. 6. Block diagram of the control loop of RCC for energy management R EFERENCES
[1] L. Prez-Lombard, J. Ortiz, and C. Pout, “A review on buildings energy
We introduce at this point a so-called dynamic mixing factor consumption information,” Energy and Buildings, vol. 40, no. 3, pp. 394
h, which enables the desired consumption behavior of energy – 398, 2008.
mix. h fulfills the role of a valve that limits the consumption [2] R. Roche, B. Blunier, A. Miraoui, V. Hilaire, and A. Koukam, “Multi-
agent systems for grid energy management: A short review,” in IECON
of local resources. Its value is determined dynamically by 2010 - 36th Annual Conference on IEEE Industrial Electronics Society,
RCC over time and always within [0, 1]. Besides the kp value pp. 3341 –3346, nov. 2010.
which with a higher gain leads to a faster convergence of the [3] M. Chetty, D. Tran, and R. E. Grinter, “Getting to green: Understanding
resource consumption in the home,” in Proc. of UbiComp ’08, pp. 242–
actual budget progression, the initial value of h can also be 251, 2008.
determined by the mapping function f , see a simple example [4] G. Wood and M. Newborough, “Energy-use information transfer for
of the overall algorithm as follows: intelligent homes: Enabling energy conservation with central and local
displays,” Energy and Buildings, vol. 39, pp. 495–503, 2007.
1 StartTime = Time(k) [5] D. Yazar and A. Dunkels, “Efficient application integration in ip-
based sensor networks,” in Proceedings of the First ACM Workshop on
2 x_1 = Preference_Vector() Embedded Sensing Systems for Energy-Efficiency in Buildings, BuildSys
3 x_2 = C(k) ’09, (New York, NY, USA), pp. 43–48, ACM, 2009.
4 IF SUM(x_1)>=6 THEN GOTO 5 ELSE GOTO 6 [6] D. Guinard, “Towards the web of things: Web mashups for embedded
devices,” in In MEM 2009 in Proceedings of WWW 2009. ACM, 2009.
5 h_init = 1 AND k_p = 0.1 [7] J. Weiss, Beyond SCADA: Network Embedded Control for Physical
6 h_init = Random(1) AND k_p = 10 Systems. Position Paper on Research Needs for Secure Control Systems,
7 E(k) = B(k)-C(k) KEMA, Inc.
[8] F. Wu, K. Moslehi, and A. Bose, “Power system control centers: Past,
8 PController(E(k), h, k_p) -> E(k)==0 present, and future,” Proceedings of the IEEE, vol. 93, pp. 1890 –1908,
9 IF Device_Power<=E(k) THEN GOTO 10 nov. 2005.
ELSE GOTO 11 [9] S. M. Kaplan and F. Sissine, Smart Grid: Modernizing Electric Power
Transmission and Distribution; Energy Independence, Storage and Secu-
10 Device_Scaling() rity; Energy Independence and Security Act of 2007 (EISA); Improving
11 %Turn off all active Devices until h=1 Electrical Grid Efficiency, Communication, Reliability, and Resiliency;
Integrating New and Renewable Energy Sources. TheCapitol.Net, Inc.,
Where the mapping function in this example refers to the 2009.
[10] R. H. Lasseter, “Microgrids and distributed generation,” Energy Engi- [32] “Swedish energy agency,” 2007.
neering, American Society of Civil Engineers, vol. 133, p. 144, 2007. [33] M. Albadi and E. El-Saadany, “Demand response in electricity markets:
[11] Q. Feng, A. Bratukhin, A. Treytl, and T. Sauter, “A flexible multi-agent An overview,” in Power Engineering Society General Meeting, 2007.
system architecture for plant automation,” in Proceedings of 5th IEEE IEEE, pp. 1 –5, june 2007.
International Conference on Industrial Informatics, pp. 1047 – 1052, [34] K. J. strm and R. M. Murray, Feedback Systems: An Introduction for
2007. Scientists and Engineers. Princeton University Press, 2008.
[12] J. Ferber, Multi-agent systems: An introduction to distributed artificial
intelligence. Addison-Wesley Professional, 1999.
[13] S. McArthur, E. Davidson, V. Catterson, A. Dimeas, N. Hatziargyriou,
F. Ponci, and T. Funabashi, “Multi-agent systems for power engineering
applications – part i: Concepts, approaches, and technical challenges,”
Yong Ding received his M. Sc. Degree of Electrical
Power Systems, IEEE Transactions on, vol. 22, pp. 1743 –1752, nov.
Engineering in 2008 at Karlsruhe University. His
2007.
employment experience included 15 months Trainee
[14] H. Feroze, “Multi-agent systems in microgrids: Design & implementa-
Program in the energy company RWE and project
tion,” Master’s thesis, Virginia Tech, August 2009.
management of electrical engineering in the division
[15] A. L. Dimeas and N. D. Hatziargyriou, “Operation of a multiagent
of conveyor equipment and process data processing.
system for microgrid control,” IEEE TRANSACTIONS ON POWER
He is now a PhD candidate at the Karlsruhe Institute
SYSTEMS, vol. 20, pp. 1447–1455, August 2005.
of Technology (KIT), working on behavioral change
[16] T. Logenthiran, D. Srinivasan, and D. Wong, “Multi-agent coordination
of energy consumption in urban scale and networked
for der in microgrid,” in IEEE International Conference on Sustainable
platforms for dynamic energy mix and consumption
Energy Technologies (ICSET’08), pp. 77 –82, nov. 2008.
optimization.
[17] T. Funabashi, T. Tanabe, T. Nagata, and R. Yokoyama, “An autonomous
agent for reliable operation of power market and systems including
microgrids,” in Electric Utility Deregulation and Restructuring and
Power Technologies, 2008. DRPT 2008. Third International Conference
on, pp. 173 –177, april 2008.
[18] E. Kgi-Kolisnychenko, Distribution Management System Including Dis- Christian Decker received his Ph.D. degree in 2009 at the Karlsruhe Institute
persed Generation and Storage in a Liberalized Market Environment. of Technology (KIT). He was scientific manager of the TecO research group
PhD thesis, EPFL, Lausanne, 2009. since 2006 and is now at Init AG. His research interests include feedback
[19] J. K. Kok, C. J. Warmer, and I. G. Kamphuis, “Powermatcher: multiagent controlled computing systems as well as cooperative and collaborative process
control in the electricity infrastructure,” in Proceedings of the fourth organisation.
international joint conference on Autonomous agents and multiagent
systems, AAMAS ’05, (New York, NY, USA), pp. 75–82, ACM, 2005.
[20] Z. Qiu, G. Deconinck, N. Gui, and R. Belmans, “A multi-agent system
architecture for electrical energy matching in a microgrid.” Online: http:
//www.esat.kuleuven.be/electa/publications/fulltexts/pub 1762.pdf. Iana Vassileva received her M. Sc. Degree in
[21] P. Burade and J. Helonde, “A novel approach for optimal power dis- Environmental Science from Mälardalen University,
patch using artificial intelligence (ai) methods,” in Control, Automation, Västeras, Sweden in 2007. She is now a doctoral
Communication and Energy Conservation, 2009. INCACEC 2009. 2009 candidate at Mälardalen University working on an-
International Conference on, pp. 1–6, june 2009. alyzing consumption patterns, behaviors and how
[22] T. Nagata, Y. Tao, H. Sasaki, and H. Fujita, “A multi-agent approach different feedback influences them.
to distribution system restoration,” Power Engineering Society General
Meeting, vol. 2, p. 660, 2003.
[23] A. Dimeas and N. Hatziargyriou, “A multiagent system for microgrids,”
in Power Engineering Society General Meeting, 2004. IEEE, vol. 1,
pp. 55 – 58, june 2004.
[24] A. Dimeas and N. Hatziargyriou, “A mas architecture for microgrids
control,” in Intelligent Systems Application to Power Systems, 2005.
Proceedings of the 13th International Conference on, p. 5 pp., nov.
2005. Fredrik Wallin received his Ph.D. degree in 2010 at
[25] L. Philips, H. Link, R. Smith, and L. Welland, “Agent-based control Mälardalen University. He has been working for 10
of distributed infrastructure resources,” tech. rep., Sandia National years with energy information, metering systems and
Laboratories, 2006. demand-response issues. Other research interests are
[26] C. Floerkemeier, M. Langheinrich, E. Fleisch, F. Mattern, and S. Sarma, small-scale electricity production, renewable energy
“The internet of things,” in Proc. First International Conference, IOT, technologies and improved integration of energy
(Zurich, Switzerland,), Springer, 2008. consumers into the energy markets.
[27] O. Gehrke, S. Ropenus, and P. Venne, “Distributed energy resources
and control: A power system point of view,” in Proc. Ris Energy Conf.,
(Roskilde, Denmark), pp. 248–257, 2007.
[28] Y. Ding, N. Namatame, T. Riedel, T. Miyaki, and M. Budde, “Smartteco:
Context-based ambient sensing and monitoring for optimizing energy
consumption,” in Proceedings of the 8th ACM international conference
adjunct papers on Autonomic Computing, (Karlsruhe, Germany), ACM,
June 14-18 2011.
[29] M. Beigl, A. Krohn, T. Riedel, T. Zimmer, C. Decker, and M. Isomura, Michael Beigl holds a MSc. (Dipl. Inform.) and
“The upart experience: building a wireless sensor network,” in Proceed- a Ph.D. (Dr. Ing.) in Computer Science from the
ings of The Fifth International Conference on Information Processing University of Karlsruhe. His Ph.D. received the
in Sensor Networks (IPSN ’06), pp. 366–373, 2006. FZI price for the best dissertation of the year in
[30] D. Gordon, M. Beigl, and M. A. Neumann, “dinam: A wireless sensor 2000. His employment experience included the chair
network concept and platform for rapid development,” in Proc. of the for Distributed and Ubiquitous Computing at the
Seventh International Conference on Networked Sensing Systems, INSS Technische Universität Braunschweig (2006-2010)
’10, pp. 57–60, June 2010. and scientific director of the TecO research lab at
[31] Y. Ding, H. R. Schmidtke, and M. Beigl, “Beyond context-awareness: University of Karlsruhe (2000-2005). Since 2010
Context prediction in an industrial application,” in Proceedings of Michael Beigl is full professor (W3) at the Depart-
the 12th ACM international conference adjunct papers on Ubiquitous ment of Informatics and holds the position as chair
computing (Ubicomp ’10), (Copenhagen, Denmark), pp. 401–402, ACM of the shared new field group Pervasive Computing System at the Karlsruhe
Press, September 26-29 2010. Institute of Technology.