Concerns over changes to the global environment and the growing need for energy have increased the penetration of renewable energy (RE) generation into low voltage distribution networks. The introduction of Energy Storage Systems (ESS) into distribution networks has been proposed to improve the reliability and performance of power systems. Energy storage systems will also be important in helping to regulate the supply from intermittent RE sources that feed into variable load demand. The focus of this paper is to provide an overview of the state of the art of ESS, concentrating on the distinct characteristics and applications of the different types. The analysis includes comparison and evaluation of different storage preferences with regard to integration of these technologies with an electric grid at the distribution network level that may lead to benefits such as distribution upgrade deferral and improvements in power quality and reliability.

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The manuscript was received on 11 March 2009 and was accepted after revision for publication on 10 November 2009. DOI: 10.1243/09544070JAUTO1204Abstract: This paper presents a method for trajectory generation using convex optimization to find a feasible, obstacle-free path for a road vehicle. Consideration of vehicle rotation is shown to be necessary if the trajectory is to avoid obstacles specified in a fixed Earth axis system. The paper establishes that, despite the presence of significant non-linearities, it is possible to articulate the obstacle avoidance problem in a tractable convex form using multiple optimization passes. Finally, it is shown by simulation that an optimal trajectory that accounts for the vehicle's changing velocity throughout the manoeuvre is superior to a previous analytical method that assumes constant speed.

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Longitudinal collision avoidance controllers are of limited benefit for preventing head-on collisions between road vehicles travelling at high speed or for preventing rear end collisions when there is insufficient separation between the vehicles. In these circumstances, aggressive lateral vehicle manoeuvres are more appropriate. This paper develops a controller architecture to perform an emergency lateral collision avoidance manoeuvre. Simulation results indicate significant improvements in collision avoidance at vehicle speeds up to 100 [km/hr] using integrated automatic steering and braking.