Modeling Power Requirements for Skid-Steer Mobile Robots in Manufacturing Environments

2016 ◽  
Author(s):  
Stephen L. Canfield ◽  
Tristan W. Hill ◽  
Stephen G. Zuccaro
Keyword(s):  
Energy Consumption ◽  
Mobile Robots ◽  
Steel Surface ◽  
Primary Source ◽  
Path Selection ◽  
Path Optimization ◽  
Design Parameters ◽  
Function Evaluation ◽  
Modeling Power ◽  
Manufacturing Environments

This paper demonstrates an approach for predicting and optimizing energy consumption in skid-steer mobile robots (SSMRs) conducting manufacturing tasks. This work is unique in that it considers the energy associated with real-time predictions of slipping in the SSMR and further considers a specific application in which the SSMR is operating in an inverted (climbing) configuration on metal surfaces with homogeneous properties. The approach is based on a dynamic model that provides estimates of SSMR slipping motion during simulation. The model is used to estimate the underlying components of energy and will serve as the tool for objective function evaluation. The approach will follow previous path optimization strategies, parameterizing the path to provide design parameters and using appropriate optimization tools. A method to select the desired trajectory prior to conducting a manufacturing task is demonstrated. This paper primarily focuses on a scenario in which a climbing SSMR maneuvers on a steel surface by means of magnetic-based tracks with strong adhering forces. For this case, the friction due to slipping represents the primary source of energy consumption. This implies that the path selection is the most important parameter for the optimization.

scholarly journals Energy Modeling and Power Measurement for Mobile Robots

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 27 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Electrical Power ◽  
Energy Model ◽  
Energy Modeling ◽  
Power Measurement ◽  
Sensor System ◽  
System Control

To improve the energy efficiency of a mobile robot, a novel energy modeling method for mobile robots is proposed in this paper. The robot can calculate and predict energy consumption through the energy model, which provides a guide to facilitate energy-efficient strategies. The energy consumption of the mobile robot is first modeled by considering three major factors: the sensor system, control system, and motion system. The relationship between the three systems is elaborated by formulas. Then, the model is utilized and experimentally tested in a four-wheeled Mecanum mobile robot. Furthermore, the power measurement methods are discussed. The energy consumption of the sensor system and control system was at the milliwatt level, and a Monsoon power monitor was used to accurately measure the electrical power of the systems. The experimental results showed that the proposed energy model can be used to predict the energy consumption of the robot movement processes in addition to being able to efficiently support the analysis of the energy consumption characteristics of mobile robots.

The Simulation Experiments Research of Plow Bit Cutting Coal Rock Basing on Ls-Dyna

2011 ◽  
Vol 228-229 ◽  
pp. 1035-1038
Author(s):  
Zhi Yong Hao ◽  
Jun Mao
Keyword(s):  
Energy Consumption ◽  
Coal Seam ◽  
Separation Distance ◽  
Design Parameters ◽  
Cutting Depth ◽  
Element Analysis ◽  
Cutting Resistance ◽  
Cutting Energy ◽  
3D Simulation Model ◽  
Depth Separation

Using finite element analysis software ANSYS/ LS-DYNA, establishing the plow cutting coal seam 3D simulation model, simulating plow bit cutting coal seam dynamic process. under study, obtaining plow bit the cutting resistance, plow speed of time process curve, analyzing the influence on cutting energy consumption of the different cutting depth, separation distance and width, reaching the rule of cutting energy consumption changing with plow bits’ structure parameter and design parameters, in order to reduce the energy consumption and resistance, cutting depth and plow bits spacing ought to be selected by the real coal seam face conditions.

Improved Design Parameters for a Liquid Desiccant Dehumidifier in Confined Spaces

Solar Energy ◽  
2005 ◽  
Author(s):  
D. Dong ◽  
M. Liu
Keyword(s):  
Energy Consumption ◽  
Ventilation System ◽  
Exhaust System ◽  
Design Parameters ◽  
Confined Space ◽  
Confined Spaces ◽  
Exhaust Ventilation ◽  
Moisture Condensation ◽  
Improved Design ◽  
Control Application

Investigations of a desiccant dehumidifier system have been performed for humidity control application in confined spaces. A previous study revealed that the base dehumidifier system can reduce moisture condensation by 22% over a conventional exhaust ventilation system. The current study aims to develop improved design requirements for a desiccant dehumidifier. The energy consumption of an exhaust ventilation system and an improved dehumidifier system was compared. To investigate the improved desiccant dehumidification system, numerical simulations were conducted and an objective function was established. This paper presents simulated results for an existing desiccant dehumidification system and an improved system, in which improved parameters are used. Use of the improved design parameters can reduce moisture condensation by 26.6% over a base dehumidifier system and shorten the dehumidifier performance period by 14%. Energy consumption with the sole use of an exhaust system is compared with that of the improved dehumidifier system under the same conditions. The results show that energy consumption can be substantially reduced, by 63%, in the improved dehumidifier system with the same amount of moisture condensation on surfaces of the confined space.

Mobile Worm-Like Robots for Pipe Inspection

2015 ◽  
pp. 168-218 ◽  
Author(s):  
Sergey Fedorovich Jatsun ◽  
Andrei Vasilevich Malchikov
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mobile Robots ◽  
Experimental Studies ◽  
Design Parameters ◽  
Robot Motion ◽  
Robot Dynamics ◽  
Confined Space ◽  
Pipe Inspection ◽  
The Mathematical Model

This chapter describes various designs of multilink mobile robots intended to move inside the confined space of pipelines. The mathematical model that describes robot dynamics and controlled motion, which allows simulating different regimes of robot motion and determining design parameters of the device and its control system, is presented. The chapter contains the results of numerical simulations for different types of worm-like mobile robots. The experimental studies of the in-pipe robots prototypes and their analyses are presented in this chapter.

scholarly journals A Portable Sisal Decorticator for Kenyan Farmers

2006 ◽  
Vol 1 (2) ◽  
Author(s):  
Benjamin J. Snyder ◽  
Joe Bussard ◽  
Jim Dolak ◽  
Tim Weiser
Keyword(s):  
Energy Consumption ◽  
Arid Regions ◽  
Material Selection ◽  
Small Diameter ◽  
Optimal Solution ◽  
Design Parameters ◽  
Small Scale ◽  
Quality Testing ◽  
The Arid Regions ◽  
Assembly Constraints

This project analyzed and redesigned the various components of a previously designed sisal decorticator prototype. The sisal plant is easily grown in the arid regions of Kenya and its fiber has widespread industrial and consumer applications. Competition from Brazilian and Chinese sisal growers has made it difficult for small-scale Kenyan sisal farmers to yield a profit. Decorticator machines strip the usable fiber from the sisal leaves. A strong market exists in Kenya and beyond for an affordable and capable decortication device. Based on interaction with University of Nairobi students and faculty, design parameters were assessed and adapted to create a working prototype to meet these needs. Throughout the design process, affordability, energy consumption, transportability, reliability, on-site material and assembly constraints were taken into account. The designs chosen accomplished the project requirements by minimizing cost through material selection and ease of manufacture, and provided adjustable parameters in order to facilitate decortication quality testing. A vertical feed, small diameter decorticator with steel blades transportable via a steel frame with two wheels was determined to be the optimal solution. Testing with actual sisal and variable components enabled quality to be assessed as well as ensured that the designed prototype operated correctly and safely.

Application of statistical techniques in modeling and optimization of a snake robot

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 623-641 ◽  
Author(s):  
Hadi Kalani ◽  
Alireza Akbarzadeh ◽  
Hossein Bahrami
Keyword(s):  
Energy Consumption ◽  
Statistical Design ◽  
Optimization Techniques ◽  
Design Parameters ◽  
Snake Robot ◽  
Robot Performance ◽  
And Performance ◽  
Development Analysis ◽  
Curvilinear Regression ◽  
Range Of Values

SUMMARYThis paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations of n-link snake robot are used to perform simulation. Experimental design methodology is used for design characterization. Data are collected as per full factorial design. For both energy consumption and distance traveled, logarithmic, linear, and curvilinear regression models are generated and the best models are selected. Using analysis of variance, ANOVA, effects of parameters on performance of robots are determined. Next, using SA, optimum parameter levels of robots with different number of links to minimize energy consumption and maximize distance traveled are determined. Both single and multi-criteria objectives are considered. Webots and Matlab SimMechanics software are used to validate theoretical results. For the mathematical model and the selected range of values considered, results indicate that the proposed approach is quite effective and efficient in optimization of robot performance. This research extends the present knowledge in this field by identifying additional parameters having significant effect on snake robot performance.

Modeling power and energy consumption of dense matrix factorizations on multicore processors

2013 ◽  
Vol 26 (17) ◽  
pp. 2743-2757 ◽  
Author(s):  
Pedro Alonso ◽  
Manuel F. Dolz ◽  
Rafael Mayo ◽  
Enrique S. Quintana-Ortí
Keyword(s):  
Energy Consumption ◽  
Multicore Processors ◽  
Matrix Factorizations ◽  
Dense Matrix ◽  
Modeling Power ◽  
Power And Energy
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