A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers

2021 ◽  
pp. 1-11
Author(s):  
Amin Ghorbanpour ◽  
Hanz Richter
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Robot Motion ◽  
Control Law ◽  
Outer Loop ◽  
Energy Regeneration ◽  
Brushless Motor ◽  
Control Scheme ◽  
Novel Concept ◽  
Constrained Quadratic Optimization

Abstract In this work, a new drive concept for brushless direct current (BLDC) motors is introduced. Energy regeneration is optimally managed with the aim of improving the energy efficiency of robot motion controls. The proposed scheme has three independent regenerative drives interconnected in a wye configuration. An augmented model of the robot, joint mechanisms, and BLDC motors is formed, and then a voltage-based control scheme is developed. The control law is obtained by specifying an outer-loop torque controller followed by minimization of power consumption via online constrained quadratic optimization. An experiment is conducted to assess the performance of the proposed concept against an off-the-shelf driver. It is shown that, in terms of energy regeneration and consumption, the developed driver has better performance. Furthermore, the proposed concept showed a reduction of 15% energy consumption for the conditions of the study.

scholarly journals Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes

2019 ◽  
Vol 292 ◽  
pp. 01010
Author(s):  
Mihailo Lazarević ◽  
Nikola Živković ◽  
Darko Radojević
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Control Law ◽  
Exact Linearization ◽  
Outer Loop ◽  
Control Scheme

The paper designs an appropriate iterative learning control (ILC) algorithm based on the trajectory characteristics of upper exosk el eton robotic system. The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

2020 ◽  
Author(s):  
Amin Ghorbanpour ◽  
Hanz Richter
Keyword(s):  
Energy Consumption ◽  
Motion Control ◽  
Optimization Problem ◽  
Control Method ◽  
Bldc Motor ◽  
Brushless Motors ◽  
Energy Regeneration ◽  
Quadratic Optimization Problem ◽  
Constrained Quadratic Optimization ◽  
Ultra Capacitor

Abstract In this work, simultaneous energy regeneration and motion control for robot manipulators with brushless direct current (BLDC) motors is considered. All joints of the robot are connected to regenerative drives powered from a single ultra-capacitor. A new voltage-based control method is developed to individually command each phase of the BLDC motor. Three independent regenerative drives are interconnected in a wye configuration, and each drives a phase of the motor. The objective is to determine the control inputs for each drive to minimize energy consumption from the ultra-capacitor for a given motion task. To this end, the problem is formulated as constrained quadratic optimization problem that gives the control inputs based on the desired torque generated by a virtual controller. An experimental evaluation is performed using a pendulum actuated by a BLDC motor. It is shown that the suggested control method can accomplish the motion task and it is capable of energy regeneration. The results show a reduction of about 40% in energy consumption for the condition of the study, relative to non-regenerative case.

scholarly journals Joint Optimized CPU and Networking Control Scheme for Improved Energy Efficiency in Video Streaming on Mobile Devices

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Sung-Woong Jo ◽  
Jong-Moon Chung
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Mobile Devices ◽  
Video Streaming ◽  
Joint Optimization ◽  
Battery Life ◽  
Processing Unit ◽  
Central Processing ◽  
Control Scheme ◽  
Streaming Service

Video streaming service is one of the most popular applications for mobile users. However, mobile video streaming services consume a lot of energy, resulting in a reduced battery life. This is a critical problem that results in a degraded user’s quality of experience (QoE). Therefore, in this paper, a joint optimization scheme that controls both the central processing unit (CPU) and wireless networking of the video streaming process for improved energy efficiency on mobile devices is proposed. For this purpose, the energy consumption of the network interface and CPU is analyzed, and based on the energy consumption profile a joint optimization problem is formulated to maximize the energy efficiency of the mobile device. The proposed algorithm adaptively adjusts the number of chunks to be downloaded and decoded in each packet. Simulation results show that the proposed algorithm can effectively improve the energy efficiency when compared with the existing algorithms.

Improving Energy Efficiency in Internet of Things using Artificial Bee Colony Algorithm

2020 ◽  
Vol 14 ◽  
Author(s):  
M. Sivaram ◽  
V. Porkodi ◽  
Amin Salih Mohammed ◽  
S. Anbu Karuppusamy
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Artificial Bee Colony ◽  
Trust Model ◽  
Sensor Nodes ◽  
Remote Areas ◽  
Bee Colony ◽  
Important Concern ◽  
Wide Range ◽  
Iot Devices

Background: With the advent of IoT, the deployment of batteries with a limited lifetime in remote areas is a major concern. In certain conditions, the network lifetime gets restricted due to limited battery constraints. Subsequently, the collaborative approaches for key facilities help to reduce the constraint demands of the current security protocols. Aim: This work covers and combines a wide range of concepts linked by IoT based on security and energy efficiency. Specifically, this study examines the WSN energy efficiency problem in IoT and security for the management of threats in IoT through collaborative approaches and finally outlines the future. The concept of energy-efficient key protocols which clearly cover heterogeneous IoT communications among peers with different resources has been developed. Because of the low capacity of sensor nodes, energy efficiency in WSNs has been an important concern. Methods: Hence, in this paper, we present an algorithm for Artificial Bee Colony (ABC) which reviews security and energy consumption to discuss their constraints in the IoT scenarios. Results: The results of a detailed experimental assessment are analyzed in terms of communication cost, energy consumption and security, which prove the relevance of a proposed ABC approach and a key establishment. Conclusion: The validation of DTLS-ABC consists of designing an inter-node cooperation trust model for the creation of a trusted community of elements that are mutually supportive. Initial attempts to design the key methods for management are appropriate individual IoT devices. This gives the system designers, an option that considers the question of scalability.

The Research of Measuring Approach and Energy Efficiency for Hadoop Periodic Jobs

2015 ◽  
Vol 8 (1) ◽  
pp. 206-210 ◽  
Author(s):  
Yu Junyang ◽  
Hu Zhigang ◽  
Han Yuanyuan
Keyword(s):  
Energy Efficiency ◽  
Cloud Computing ◽  
Energy Consumption ◽  
Energy Saving ◽  
Energy Estimate ◽  
Cloud Platform ◽  
Periodic Tasks ◽  
Current Consumption ◽  
Reduce Energy Consumption

Current consumption of cloud computing has attracted more and more attention of scholars. The research on Hadoop as a cloud platform and its energy consumption has also received considerable attention from scholars. This paper presents a method to measure the energy consumption of jobs that run on Hadoop, and this method is used to measure the effectiveness of the implementation of periodic tasks on the platform of Hadoop. Combining with the current mainstream of energy estimate formula to conduct further analysis, this paper has reached a conclusion as how to reduce energy consumption of Hadoop by adjusting the split size or using appropriate size of workers (servers). Finally, experiments show the effectiveness of these methods as being energy-saving strategies and verify the feasibility of the methods for the measurement of periodic tasks at the same time.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Pre- and post-operam comparison of the energy consumption of a radio base station under energy efficiency actions

2021 ◽  
Vol 236 ◽  
pp. 110772
Author(s):  
Carmela Vetromile ◽  
Antonio Spagnuolo ◽  
Antonio Petraglia ◽  
Antonio Masiello ◽  
Maria Rosa di Cicco ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Base Station

scholarly journals Power and Performance Evaluation of Memory-Intensive Applications

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4089
Author(s):  
Kaiqiang Zhang ◽  
Dongyang Ou ◽  
Congfeng Jiang ◽  
Yeliang Qiu ◽  
Longchuan Yan
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Power Consumption ◽  
Job Scheduling ◽  
Memory System ◽  
Processor Core ◽  
Memory Efficiency ◽  
And Performance ◽  
Reasonable Use ◽  
Server System

In terms of power and energy consumption, DRAMs play a key role in a modern server system as well as processors. Although power-aware scheduling is based on the proportion of energy between DRAM and other components, when running memory-intensive applications, the energy consumption of the whole server system will be significantly affected by the non-energy proportion of DRAM. Furthermore, modern servers usually use NUMA architecture to replace the original SMP architecture to increase its memory bandwidth. It is of great significance to study the energy efficiency of these two different memory architectures. Therefore, in order to explore the power consumption characteristics of servers under memory-intensive workload, this paper evaluates the power consumption and performance of memory-intensive applications in different generations of real rack servers. Through analysis, we find that: (1) Workload intensity and concurrent execution threads affects server power consumption, but a fully utilized memory system may not necessarily bring good energy efficiency indicators. (2) Even if the memory system is not fully utilized, the memory capacity of each processor core has a significant impact on application performance and server power consumption. (3) When running memory-intensive applications, memory utilization is not always a good indicator of server power consumption. (4) The reasonable use of the NUMA architecture will improve the memory energy efficiency significantly. The experimental results show that reasonable use of NUMA architecture can improve memory efficiency by 16% compared with SMP architecture, while unreasonable use of NUMA architecture reduces memory efficiency by 13%. The findings we present in this paper provide useful insights and guidance for system designers and data center operators to help them in energy-efficiency-aware job scheduling and energy conservation.

scholarly journals Evaluation of Sustainable Energy Development Progress in EU Member States in the Context of Building Renovation

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4209
Author(s):  
Rita Remeikienė ◽  
Ligita Gasparėnienė ◽  
Aleksandra Fedajev ◽  
Marek Szarucki ◽  
Marija Đekić ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Co2 Emissions ◽  
Renewable Energy Sources ◽  
Investment Efficiency ◽  
The European Union ◽  
Energy Usage ◽  
Member States ◽  
Eu Member States ◽  
The Eu

The main goal of setting energy efficiency priorities is to find ways to reduce energy consumption without harming consumers and the environment. The renovation of buildings can be considered one of the main aspects of energy efficiency in the European Union (EU). In the EU, only 5% of the renovation projects have been able to yield energy-saving at the deep renovation level. No other study has thus far ranked the EU member states according to achieved results in terms of increased usage in renewable sources, a decrease in energy usage and import, and reduction in harmful gas emissions due to energy usage. The main purpose of this article is to perform a comparative analysis of EU economies according to selected indicators related to the usage of renewable resources, energy efficiency, and emissions of harmful gasses as a result of energy usage. The methodological contribution of our study is related to developing a complex and robust research method for investment efficiency assessment allowing the study of three groups of indicators related to the usage of renewable energy sources, energy efficiency, and ecological aspects of energy. It was based on the PROMETHEE II method and allows testing it in other time periods, as well as modifying it for research purposes. The EU member states were categorized by such criteria as energy from renewables and biofuels, final energy consumption from renewables and biofuels, gross electricity generation from renewables and biofuels and import dependency, and usage of renewables and biofuels for heating and cooling. The results of energy per unit of Gross Domestic Product (GDP), Greenhouse gasses (GHG) emissions per million inhabitants (ECO2), energy per capita, the share of CO2 emissions from public electricity, and heat production from total CO2 emissions revealed that Latvia, Sweden, Portugal, Croatia, Austria, Lithuania, Romania, Denmark, and Finland are the nine most advanced countries in the area under consideration. In the group of the most advanced countries, energy consumption from renewables and biofuels is higher than the EU average.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

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