Minimum-Time Trajectory Planning for Multi-Degree-of-Freedom System under Average Heat Generation Restriction

1993 ◽  
pp. 197-202
Author(s):  
K. ONO ◽  
T. TERAMOTO
Keyword(s):  
Heat Generation ◽  
Trajectory Planning ◽  
Degree Of Freedom ◽  
Minimum Time ◽  
Average Heat

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

A novel heat generation acquisition method of cylindrical battery based on core and surface temperature measurements

2021 ◽  
pp. 1-17
Author(s):  
Xiaoli Yu ◽  
Qichao Wu ◽  
Rui Huang ◽  
Xiaoping Chen
Keyword(s):  
Surface Temperature ◽  
Heat Generation ◽  
Discharge Rate ◽  
Total Heat ◽  
Temperature Measurements ◽  
Generation Rate ◽  
Air Cooling ◽  
Heat Generation Rate ◽  
Environmental Chamber ◽  
Average Heat

Abstract Heat generation measurements of the lithium-ion battery are crucial for the design of the battery thermal management system. Most previous work uses the accelerating rate calorimeter (ARC) to test heat generation of batteries. However, utilizing ARC can only obtain heat generation of the battery operating under the adiabatic condition, deviating from common operation scenarios with heat dissipation. Besides, using ARC is difficult to measure heat generation of the high-rate operating battery because the battery temperature easily exceeds the maximum safety limit. To address these problems, we propose a novel method to obtain heat generation of cylindrical battery based on core and surface temperature measurements and select the 21700 cylindrical battery as the research object. Based on the method, total heat generation at 1C discharge rate under the natural convection air cooling condition in the environmental chamber is about 3.2 kJ, and the average heat generation rate is about 0.9 W. While these two results measured by ARC are about 2.2 kJ and 0.6 W. This gap also reflects that different battery temperature histories have significant impacts on heat generation. In addition, using our approach, total heat generation at 2C discharge rate measured in the environmental chamber is about 5.0 kJ, with the average heat generation rate being about 2.8 W. Heat generation results obtained by our method are approximate to the actual battery operation and have advantages in future applications.

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