A collaborative operation-energy planning method for liquefied natural gas bunkering ports considering integrated electricity-gas microgrid

Introduction: When the superior power grid fails and loses power, due to the traditional single power supply radial grid structure of low-voltage substation areas, all loads in the lowvoltage substation area will lose power, causing a poor electricity consumption experience for low-voltage users. To enhance the resilience of low-voltage distribution areas against faults and power outages from higher-tier power grids, a collaborative planning and comprehensive evaluation method for grid-forming energy storage systems (GFM-ESS) and flexible interconnection in distribution networks, considering island operation, is proposed. Method: This method integrates GFM-ESS and flexible interconnections, taking islanding operations into account. Firstly, the structure of GFM-ESS and voltage source converters is analyzed. The control modes of GFM-ESS in parallel or off-grid scenarios are also scrutinized. Secondly, minimizing the annual comprehensive cost and the annual power outage load are the objective functions. A bilevel programming model for GFM-ESS and flexible interconnection of lowvoltage distribution networks, considering island operation, has been established. Moreover, a comprehensive evaluation method based on the analytic hierarchy process for proposed lowvoltage distribution network structural schemes is introduced. An evaluation index system is established to assess the rationality of these proposed network structural planning schemes. Finally, the superiority of the proposed collaborative planning method is verified through a comparative analysis of three planning methods. Result: The proposed collaborative planning method can effectively ensure the continuous power supply of low-voltage distribution networks under the fault scenario of the upper power network. Conclusion: Moreover, the rationality of the results obtained from the proposed collaborative planning method is verified through a comprehensive evaluation method of grid structure schemes based on the analytic hierarchy process. The proposed comprehensive evaluation method can determine which two areas are optimal for grid planning. result: The superiority of the proposed collaborative planning method was verified by comparative analysis of three planning methods. And the rationality of the proposed collaborative planning method results was verified by the comprehensive evaluation method of grid structure schemes based on analytic hierarchy process.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yasa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

The chapter aims to clarify the concept of supply chain vulnerability and to show how collaborative methods such as Collaborative Planning, Forecasting, and Replenishment (CPFR) can mitigate its effects. It proposes a framework of supply chain vulnerability that includes a relation between internal and external elements. The framework also explains the relationship between resilience and robustness and supply chain vulnerability. This chapter gives an overview of the theoretical study of supply chain vulnerability. The research contains a literature review of supply chain vulnerability, supply chain resilience, supply chain robustness and correlated elements. In addition, the chapter presents a literature review on CPFR. We propose a theoretical framework to explain supply chain vulnerability and how CPFR can aim to mitigate it. The chapter provides empirical insights about supply chain vulnerability, how it is related to its internal and external components, and how collaborative methods such as CPFR can assist in mitigating vulnerability effects. Because of the chosen research approach, the research results contribute to the theoretical discussion about supply chain vulnerability. The chapter includes implications for the development of a framework regarding supply chain vulnerability and its relationship with the concepts of resilience, robustness, and other elements. We discuss the mitigation of supply chain vulnerability, as well as the contribution of CPFR to the mitigation of the effects of supply chain vulnerability. Further study of the concepts of supply chain vulnerability, resilience, and robustness is also presented.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yaşa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yaşa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yasa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yaşa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

An understanding of cities as open systems whose agents act on them simultaneously from below and above, influencing urban processes by their interaction with them and with each other, is replacing the simplistic debate on urban participation which asks whether cities should be organized bottom-up or top-down. This conceptualization of cities as complex systems calls for new collaborative city-making methods: a combination of collaborative planning (which already embraces various agencies and derives decision-making from negotiations between them) and collaborative design (existing methods rely on rule-based iterative processes which control spatial outcomes). While current collaborative planning methods are open and interactive, they fail to simulate realistic power negotiations in the evolution of the physical environments they plan; collaborative design methods fall short in modelling the decision-making mechanisms of the physical environments they control. This research is dedicated to building an open negotiation and design method for cities as self-organizing systems that bridges this gap. Gaming as a tool for knowledge creation and negotiation serves as an interface between the more abstract decision-making and material city-making. Rarely involved in the creation of our environment, it has the unexplored potential of combining the socio-spatial dimensions of self-organizing urban processes. Diverse agents, the collaborations and conflicts within and between interest groups, and the parameters provided by topological data can all be combined in an operational form in gaming: potentially a great unifier of multiple stakeholder negotiations and individual design aspirations through which to generate popularly informed policies or design. The simple language and rules of games will allow jargon-free communication between stakeholders, experts and non-experts alike. The interactive and iterative nature of city gaming encourages the development of collective intelligence, derived from the real lives of players to be redeployed in their real urban futures. Vitally, city gaming enables the negotiation of this future, as players with conflicting interests are given an opportunity to develop compatible, even shared, visions. By transforming serious issues into a playful and engaging (although no less serious) experience, city gaming unlocks difficult conversations and helps to build communities in the long term. The urban design, policy and action plans generated collaboratively through gaming will increase social coherence and local agency, as well as cutting costs and time in urban development processes. This thesis proposes Generative City Gaming as an innovative urban planning and design method built on the tradition of serious gaming. Going beyond the educational scope of other serious games, the ultimate aim of city gaming is to become operational in urban processes – a goal in the process of making a reality since 2008, when Generative City Gaming was first applied to a real urban questions in the Netherlands, later expanding to Istanbul, Tirana, Brussels, and Cape Town. “Negotiation and Design for the Self-Organizing City” reports on six of the twelve city games played to date which were instrumental in the evolution of the method: Play Almere Haven tested whether a game based on self-organizing mechanisms could provide an urban order; Play Rotterdam questioned whether game-derived design could be implemented in urban renewal of a central Rotterdam neighborhood; Yap-Yaşa was played with real urban stakeholders for transforming Istanbul’s self-built neighbourhoods; Play Noord investigated a masterplan on hold could be fixed by unconventional stakeholders; Play Oosterwold jumped up a scale to test the rules of a flexible urban expansion plan for 4500 hectares; Play Van Gendthallen, was the first to enable stakeholders to make the leap from design to reality within the game process. The Generative City Gaming method evolves continuously. Every new case tests and proves the applicability of city gaming to a specific urban complexity, while challenging the method to adapt itself and develop new features tailored to tackle each unique urban question. Through use, this gaming method is finding its place within existing city-making procedures in a number of countries. The next big question is whether cyclical and open-ended city gaming can move beyond being a consultancy and research tool to become the principal medium of processing and executing city planning.

Collaborative planning of cyber physical distribution system considering the flexibility of data centers

The urban 35kV substation is the link between the main network and the distribution network, and the economic power supply and site selection optimization are the keys to the coordinated planning of the main network and the distribution network. A comprehensive evaluation system is established for collaborative economic planning of the main distribution network from three aspects: social benefit, construction economy, and operation economy, and the combination of scale expansion method and rough set method is applied to determine the combined weight of indicators. Based on this index system, a comprehensive evaluation model for economic coordination planning of an intelligent main distribution network is established. It is applied to the economic effect evaluation of the main distribution network planning of a power supply company and the optimal location selection of substations. The results show that the proposed method is a new evaluation method for power grid collaborative planning. Under the premise of ensuring the economy and reliability of power supply, the collaborative planning level of the main distribution network has been significantly improved, and the planning results are better than the traditional site selection results. It not only expands the evaluation system for coordinated planning of the main network and distribution network but also provides guidance for the planning and construction of the main distribution network.

The issue of urban liveability has been extensively debated by global agencies and scholars, as evidenced by the New Urban Agenda, in response to the impact of urbanisation. Urban liveability pertains to the ability of urban communities to achieve a high-quality living environment. While participatory planning is often presented as a means of empowering communities to attain better living conditions, it has presented challenges for decision-makers. Furthermore, dominant actors often influence participation processes, benefiting certain community segments. As a result, collaborative planning has emerged as an approach that seeks to address the interests of multiple urban factors by promoting consensus in decision-making. This paper aims to examinethe collaborative planning methods that have been used in strategic planning that have empowered the community to participate in the planning process.Content analysis was employed as a research method to explore the empirical evidence of collaborative planning that has successfully empowered community participation in strategic planning and its impact on the liveability of metropolitan areas. Correspondingly, the Melbourne, Vancouver, and Helsinki case studies were selected based on five liveable city indices. This study's findings suggest a positive correlation between the implementation of collaborative planning by the selected metropolitan areas and their status as the most liveable cities. This paper contributes to the ongoing debate on the role of collaborative planning in promoting urban liveability.

With the improvement of performance requirements for power grid, it is of great significance to realize the collaborative planning of primary and secondary equipment in distribution network. The collaborative planning takes into account the cooperation of primary and secondary equipment, which makes the equipment play a more efficient role and improves the accuracy of index calculation. In this paper, a collaborative planning method for primary and secondary equipment considering extreme weather is proposed. First, considering extreme weather, hierarchical clustering and scenario reduction are used to generate typical fault scenario sets. Then, the outage time calculation model under the first and second cooperation is established. On this basis, a collaborative configuration of primary and secondary equipment is established. The improved firefly algorithm is used to solve the model. The validity of the model is verified on an IEEE 33 bus system. The results show that collaborative planning can give full play to the role of equipment, reduce outage losses, and improve system reliability.

Aiming at the problems that the current collaborative optimization of distributed generation and distribution network involves less distribution network expansion planning and the existing collaborative research has a single applicable grid structure, a collaborative planning method of distributed generation and distribution network considering grid dynamic reconfiguration is proposed. Firstly, aiming at the lowest overall economic cost, a bi-level model of distributed generation and distribution network collaborative planning is established. The upper and lower levels determine the new lines and transfer, and the location and capacity of distributed generation respectively; Secondly, according to the actual characteristics of the two layers, the corresponding coding and solution methods are proposed, and the solution framework of bi-level programming is given; Finally, the planning results with or without distributed generation are calculated according to the actual example, which verifies the scientificity and practicability of the model and method.

Intraoperative optical navigation is widely utilized in robotic surgery systems. Typically, the observation pose of the optical tracking system (OTS) is manually adjusted and then fixed throughout the surgery. However, fixed OTS suffers from limited measurement volume (MV) and visual interferences, making consistent navigation challenging in clinics. In this paper, an operation-navigation dual-robot collaborative system is proposed for orthopedic surgeries. An extra navigation robot is introduced to actively adjust the observation pose of the OTS. A collaborative preoperative planning method is proposed for this dual-robot system, including osteotomy path planning of the operation robot and collaborative planning of the navigation robot. Firstly, osteotomy paths of the operation robot are generated according to the surgery regulations and the geometric features of the vertebral foramen. Secondly, based on the generated osteotomy paths, the collaborative planning of the navigation robot is formulated into a multi-objective optimization problem to find the optimal poses of the OTS for each osteotomy plane. Compared with fixed OTS, active navigation is capable of keeping all the targets within the MV of the OTS throughout the surgery. Semi-laminectomy on a human spine phantom is adopted as an example to experimentally evaluate the effectiveness of the proposed method. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —As the demand for robot-assisted surgery is increasing, the precision of operation has become one of the key safety requirements. Preoperative planning provides guidance for the surgeon, and intraoperative navigation monitor the status of the lesion and the surgical tool in real-time. In conventional intraoperative optical navigation, the OTS is manually adjusted and remains stationary. However, the limited MV and the visual interferences introduce risks and uncertainties to the surgical system. In order to address the limitations of fixed OTS, an operation-navigation dual-robot collaborative system is proposed for orthopedic surgeries, which is composed of a surgical operation module and an active navigation module. The navigation robot is used to actively adjust the pose of the OTS. A collaborative preoperative planning for the operation-navigation dual-robot orthopedic surgery system is proposed in this paper. The effectiveness of the proposed method is verified on a human spine phantom. Experimental results show that the active navigation provides more freedom to the overall system by freely adjusting the OTS, which ensures the stability of the surgical navigation. In future work, efforts will be directed toward the identification and avoidance of the obstacle.

With the large-scale integration of renewable energy and the deepening of electricity market reform, the power system is facing unprecedented challenges and opportunities. New energy sources such as wind and photovoltaic power generation have intermittency and uncertainty. Large-scale grid integration can significantly reduce the system’s frequency regulation capability, making it prone to large-scale disconnection and cascading failures caused by transient overvoltage. This paper proposes a novel multi-stage collaborative planning method for power systems that considers system flexibility constraints. It introduces flexibility constraints to enhance the flexibility and adaptability of the power system. By adopting a two-stage collaborative planning approach of long-term control and short-term control, a new type of power system collaborative planning for different time response characteristics has been achieved. Finally, the effectiveness and practicality of the method were verified through numerical analysis.