Kinetostatic Performance Analysis of a Redundantly Driven Parallel Kinematic Manipulator

2014 ◽  
Author(s):  
Michael Lorenz ◽  
Burkhard Corves ◽  
Martin Riedel
Keyword(s):  
Energy Efficiency ◽  
Energy Efficient ◽  
Degrees Of Freedom ◽  
Mathematical Optimization ◽  
Control Methods ◽  
Drive Power ◽  
Maximum Torque ◽  
Torque Distribution ◽  
Mechanical Handling ◽  
Parallel Kinematic

In general the mechanical handling of objects in space is performed by manipulators, whose number of actuators is consistent with the number of required degrees of freedom. In addition, manipulators can be equipped with redundant drives, providing the manipulator with more actuators than the mobility actually requires. Thus, an active distribution of drive torques is enabled. Accordingly, this research intends to analyze the effects of torque distribution in over-actuated manipulators relating to load-optimized and energy-efficient handling. By developing torque distribution strategies the maximum torque levels can be reduced and the required drive power thus be decreased. This results in an increased drive utilization, which improves the energy-efficiency of the handling system. On this basis, an innovative handling concept is analyzed, which represents an over-determined system given the number of actuators. Hence, it is shown that the drive utilization of manipulators can be significantly improved by means of actuation redundancy. For this purpose different mathematical optimization approaches are analyzed, which solve the over-actuated system with defined optimization targets. Here, the optimal torque distribution is found using an algorithm, which minimizes the maximum torque for each object position. The results demonstrate the efficiency of active torque distribution in terms of over-actuated manipulators. For a further approach it is planned to develop control methods including optimized torque distribution strategies in order to improve the performance and the energy efficiency of the entire manipulator.

A General Approach for Dynamic Positioning Weathervane Control

2013 ◽  
Vol 47 (2) ◽  
pp. 31-42 ◽  
Author(s):  
Michel R. Miyazaki ◽  
Eduardo A. Tannuri
Keyword(s):  
Energy Consumption ◽  
Control Theory ◽  
Environmental Conditions ◽  
Energy Efficient ◽  
Degrees Of Freedom ◽  
Control Point ◽  
Effective Control ◽  
Dynamic Positioning ◽  
Control Methods ◽  
Reduce Energy Consumption

AbstractEnergy efficient controllers for dynamic positioning (DP) systems are a possible approach to reduce energy consumption and CO2 emission on large offshore systems. Due to the flexibility of some DP operations, it is possible to change the vessel heading in order to align with the resultant force defined by the environmental conditions, reducing the thrust and power required to keep position, thus increasing station-keeping capability. However, online calculation of the optimum heading may not be possible because of uncertainties about wave and current intensity and direction. Moreover, these factors change through time, and the system must be able to adapt to those changes and to keep the optimum positioning. This paper presents a new methodology to define the heading setpoint based on zero power control theory. This methodology has important advantages over traditional weathervane control methods, such as an effective control of all horizontal degrees of freedom of the vessel and the possibility to define any reference control point, not only points located at the vessel bow.

Control Methods for Energy-Efficient Pneumatic Servos Employing Asymmetric Cylinders

Volume 2 ◽  
2004 ◽  
Author(s):  
Aaimin Yang ◽  
Junsheng Pu ◽  
C. B. Wong ◽  
Philip Moore
Keyword(s):  
Energy Efficiency ◽  
Energy Efficient ◽  
Energy Use ◽  
Pneumatic Cylinder ◽  
Positioning System ◽  
Control Methods ◽  
Pneumatic Actuation ◽  
Improved Stability ◽  
Point Positioning ◽  
Point To Point

Pneumatic drives or actuators are most widely used in industry, in comparison to their hydraulic and electrical counterparts. However, they are low in energy efficiency and have typically been used in performing simple actuation tasks. This paper investigates the use of pneumatic actuation for point-to-point positioning applications in the context of employing asymmetric cylinders. The focus of this research is to study appropriate control methods, aiming for improved energy efficiency in the use of pneumatic servo positioning system. Relevant mathematical models and stability analysis will be presented in this paper, with results from simulation and experimental verification. In particular, a hydraulic circuit (rapid motion circuit) is adopted in the case for pneumatic actuation. For point-to-point positioning application, in the forward moving phase, the inlet and outlet chambers will be connected via by-pass valve allowing exhausted compress air to be reused. In comparison with the conventional way in controlling the motion of an asymmetric pneumatic cylinder, a portion of the compressed can be re-used leading to an enhancement in energy-efficiency. The results show that some 15% saving in energy use can be acquired with improved stability while the settling time of the positioning system is maintained. Relevant design and applications issues will be outlined and discussed in this paper as well.

Analysis Criteria for Choosing Energy Efficient High-Quality Light Sources and Luminaires

2018 ◽  
pp. 113-119
Author(s):  
Gennady Ya. Vagin ◽  
Eugene B. Solntsev ◽  
Oleg Yu. Malafeev
Keyword(s):  
Energy Efficiency ◽  
Energy Efficient ◽  
National Standards ◽  
Light Sources ◽  
The European Union ◽  
High Quality ◽  
Eu Directive ◽  
The World ◽  
A New Technique ◽  
Energy Labelling

The article analyses critera applying to the choice of energy efficient high quality light sources and luminaires, which are used in Russian domestic and international practice. It is found that national standards GOST P 54993–2012 and GOST P 54992– 2012 contain outdated criteria for determining indices and classes of energy efficiency of light sources and luminaires. They are taken from the 1998 EU Directive #98/11/EU “Electric lamps”, in which LED light sources and discharge lamps of high intensity were not included. A new Regulation of the European Union #874/2012/EU on energy labelling of electric lamps and luminaires, in which these light sources are taken into consideration, contains a new technique of determining classes of energy efficiency and new, higher classes are added. The article has carried out a comparison of calculations of the energy efficiency classes in accordance with GOST P 54993 and with Regulation #874/2012/EU, and it is found out that a calculation using GOST P 54993 gives underrated energy efficiency classes. This can lead to interdiction of export for certain light sources and luminaires, can discredit Russian domestic manufacturer light sources and does not correspond to the rules of the World Trade Organization (WTO).

Performance Analysis of TBC-ACO Routing Protocol with Existing Routing Protocols of Wireless Sensor Networks

2017 ◽  
Vol 7 (8) ◽  
pp. 169
Author(s):  
A. Radhika ◽  
D. Haritha
Keyword(s):  
Energy Efficiency ◽  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Swarm Intelligence ◽  
Routing Protocol ◽  
Routing Protocols ◽  
Energy Efficient ◽  
Sensor Nodes ◽  
Wireless Sensor ◽  
Congestion Aware

Wireless Sensor Networks, have witnessed significant amount of improvement in research across various areas like Routing, Security, Localization, Deployment and above all Energy Efficiency. Congestion is a problem of  importance in resource constrained Wireless Sensor Networks, especially for large networks, where the traffic loads exceed the available capacity of the resources . Sensor nodes are prone to failure and the misbehaviour of these faulty nodes creates further congestion. The resulting effect is a degradation in network performance, additional computation and increased energy consumption, which in turn decreases network lifetime. Hence, the data packet routing algorithm should consider congestion as one of the parameters, in addition to the role of the faulty nodes and not merely energy efficient protocols .Nowadays, the main central point of attraction is the concept of Swarm Intelligence based techniques integration in WSN.  Swarm Intelligence based Computational Swarm Intelligence Techniques have improvised WSN in terms of efficiency, Performance, robustness and scalability. The main objective of this research paper is to propose congestion aware , energy efficient, routing approach that utilizes Ant Colony Optimization, in which faulty nodes are isolated by means of the concept of trust further we compare the performance of various existing routing protocols like AODV, DSDV and DSR routing protocols, ACO Based Routing Protocol  with Trust Based Congestion aware ACO Based Routing in terms of End to End Delay, Packet Delivery Rate, Routing Overhead, Throughput and Energy Efficiency. Simulation based results and data analysis shows that overall TBC-ACO is 150% more efficient in terms of overall performance as compared to other existing routing protocols for Wireless Sensor Networks.

MANUFACTURING OF ENERGY EFFICIENT SOLAR PANELS

2020 ◽  
Author(s):  
Андрей Дмитриевич Бухтеев ◽  
Виктория Буянтуевна Бальжиева ◽  
Анна Романовна Тарасова ◽  
Фидан Гасанова ◽  
Светлана Викторовна Агасиева
Keyword(s):  
Energy Efficiency ◽  
Solar Cells ◽  
Energy Efficient ◽  
Solar Panels

В данном обзоре приведены проблемы при использовании солнечных элементов и существующие решения этих проблем по повышению энергоэффективности фотоэлементов. Также сравнивается КПД этих солнечных элементов и рассматриваются их особенности. Одним из самых эффективных способов стало применение нанотехнологий. This review presents the problems of using solar cells and existing solutions to these problems to improve the energy efficiency of solar cells. The efficiency of these solar cells is also compared and their features are considered. One of the most effective methods was the use of nanotechnology.

Energy efficient biomorphic pulse information coding in electronic neurons for the entrance unit of the neuroprocessor

2019 ◽  
Vol 5 (3) ◽  
pp. 186-212 ◽  
Author(s):  
Alexander D. Pisarev
Keyword(s):  
Neural Networks ◽  
Energy Efficiency ◽  
Energy Efficient ◽  
Information Transfer ◽  
Biological Systems ◽  
Technological Parameters ◽  
Input Unit ◽  
Efficient Operation ◽  
Electric Circuits ◽  
Electronic Neuron

This article studies the implementation of some well-known principles of information work of biological systems in the input unit of the neuroprocessor, including spike coding of information used in models of neural networks of the latest generation.<br> The development of modern neural network IT gives rise to a number of urgent tasks at the junction of several scientific disciplines. One of them is to create a hardware platform&nbsp;— a neuroprocessor for energy-efficient operation of neural networks. Recently, the development of nanotechnology of the main units of the neuroprocessor relies on combined memristor super-large logical and storage matrices. The matrix topology is built on the principle of maximum integration of programmable links between nodes. This article describes a method for implementing biomorphic neural functionality based on programmable links of a highly integrated 3D logic matrix.<br> This paper focuses on the problem of achieving energy efficiency of the hardware used to model neural networks. The main part analyzes the known facts of the principles of information transfer and processing in biological systems from the point of view of their implementation in the input unit of the neuroprocessor. The author deals with the scheme of an electronic neuron implemented based on elements of a 3D logical matrix. A pulsed method of encoding input information is presented, which most realistically reflects the principle of operation of a sensory biological neural system. The model of an electronic neuron for selecting ranges of technological parameters in a real 3D logic matrix scheme is analyzed. The implementation of disjunctively normal forms is shown, using the logic function in the input unit of a neuroprocessor as an example. The results of modeling fragments of electric circuits with memristors of a 3D logical matrix in programming mode are presented.<br> The author concludes that biomorphic pulse coding of standard digital signals allows achieving a high degree of energy efficiency of the logic elements of the neuroprocessor by reducing the number of valve operations. Energy efficiency makes it possible to overcome the thermal limitation of the scalable technology of three-dimensional layout of elements in memristor crossbars.

scholarly journals On the Investigation of Energy Efficient Torque Distribution Strategies through a Comprehensive Powertrain Model

2021 ◽  
Vol 13 (8) ◽  
pp. 4549
Author(s):  
Sara Salamone ◽  
Basilio Lenzo ◽  
Giovanni Lutzemberger ◽  
Francesco Bucchi ◽  
Luca Sani
Keyword(s):  
Energy Storage ◽  
Electric Vehicles ◽  
Energy Efficient ◽  
Storage System ◽  
Energy Storage System ◽  
Torque Distribution ◽  
Driving Cycles ◽  
Energy Models ◽  
Battery State Of Charge

In electric vehicles with multiple motors, the torque at each wheel can be controlled independently, offering significant opportunities for enhancing vehicle dynamics behaviour and system efficiency. This paper investigates energy efficient torque distribution strategies for improving the operational efficiency of electric vehicles with multiple motors. The proposed strategies are based on the minimisation of power losses, considering the powertrain efficiency characteristics, and are easily implementable in real-time. A longitudinal dynamics vehicle model is developed in Simulink/Simscape environment, including energy models for the electrical machines, the converter, and the energy storage system. The energy efficient torque distribution strategies are compared with simple distribution schemes under different standardised driving cycles. The effect of the different strategies on the powertrain elements, such as the electric machine and the energy storage system, are analysed. Simulation results show that the optimal torque distribution strategies provide a reduction in energy consumption of up to 5.5% for the case-study vehicle compared to simple distribution strategies, also benefiting the battery state of charge.

scholarly journals Determinants of Consumers’ Intentions towards the Purchase of Energy Efficient Appliances in Pakistan: An Extended Model of the Theory of Planned Behavior

2021 ◽  
Vol 13 (2) ◽  
pp. 565
Author(s):  
Muhammad Rizwan Ali ◽  
Muhammad Shafiq ◽  
Murad Andejany
Keyword(s):  
Energy Efficiency ◽  
Theory Of Planned Behavior ◽  
Planned Behavior ◽  
Energy Efficient ◽  
Behavioral Intentions ◽  
Partial Least Square ◽  
Least Square ◽  
Policy Implications ◽  
Extended Model ◽  
Awareness Campaigns

Amplified energy demand due to technologically advanced electrical and electronic appliances has accentuated the importance of energy efficiency to overcome energy shortage and environmental concerns. As adoption of energy efficient appliances depends on perception of the consumers, this study focuses on behavioral exploration of the consumers’ intentions towards the purchase of energy efficient appliances using an extended model of the theory of planned behavior (TPB). The study is based on a survey comprising 289 respondents. Partial least square (PLS) method is used to analyze the data. The results show that the attitude, perceived behavioral control, policy information campaigns, and past-purchase experiences significantly impact behavioral intentions of the consumers, whereas subjective and moral norms are insignificant in shaping behavioral intentions. Based on analyses, policy implications emphasizing (i) strong awareness campaigns, (ii) energy efficiency incentives, and (iii) replacement initiatives are proposed to help policy makers and administrators in achieving required goals of energy efficiency and conservation. The proposed research model and policy initiatives are a blueprint for synergies among policymakers, practitioners, and researchers in understanding and shaping consumers’ behaviors towards the purchase of energy efficient products, particularly, in developing countries.

scholarly journals Two Degrees of Freedom Slip Controller with Lateral Torque Distribution

2020 ◽  
Vol 53 (2) ◽  
pp. 14450-14455
Author(s):  
Wolfgang Degel ◽  
Stefan Lupberger ◽  
Dirk Odenthal ◽  
Naim Bajcinca
Keyword(s):  
Degrees Of Freedom ◽  
Torque Distribution ◽  
Two Degrees Of Freedom
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