Dimensional optimization of rocker-bogie suspension for planetary rover based on kinetostatics and terramechanics

2021 ◽  
pp. 095440622110272
Author(s):  
Jie Li ◽  
Jun He ◽  
Yan Xing ◽  
Feng Gao
Keyword(s):  
Energy Consumption ◽  
High Mobility ◽  
Optimal Dimension ◽  
Planetary Rover ◽  
Planetary Rovers ◽  
Low Energy Consumption ◽  
Dimensional Parameters ◽  
Series Of Experiments ◽  
Driving Torque ◽  
Dimensional Optimization

Dimensional optimization is important for planetary rovers to reach good performance, such as high mobility, stability, and low energy consumption. The paper presents a dimensional optimization for a planetary rover with rocker-bogie suspension. During the optimization process, the influence of dimensions on the actuation requirements is studied based on kinetostatics and terramechanics. The objective function is built considering the average driving torque requirements in the most common type of windblown terrain in Mars called megaripples. The optimal dimension design is reached through the genetic algorithm, and the influences of dimensional parameters on rover performances are studied by drawing performance atlases. This work realizes the consideration of energy consumption in the design phase of a planetary rover. Finally, the results guide the design of a rover prototype and are validated by a series of experiments.

Control for a Two-Link Planar Robot With an Actuated Tail

2018 ◽  
Author(s):  
Xinjia Yu ◽  
Mark Bedillion
Keyword(s):  
Energy Consumption ◽  
Control Strategy ◽  
Control Strategies ◽  
High Mobility ◽  
Low Energy ◽  
Low Level ◽  
Lagrange Formulation ◽  
Low Energy Consumption ◽  
Initial Work ◽  
Planar Robot

In this paper, a new climbing robot concept and its control strategy are introduced. The robot presented in this article is a two-link planar robot equipped with two magnetic grippers and one actuated tail, which is designed to add energy to the system for efficient climbing. The climbing strategy for this robot is inspired by brachiation robots. By alternating the activation of the grippers and using the tail to add energy, the robot can string together a sequence of pendulum-like paths with brachiation motion to reach any configuration on the climbing surface. Its high mobility and low energy consumption make this robot a candidate for applications in cleaning and inspection on vertical surfaces. The non-linear dynamics of the swinging motion for this robot are studied using the Lagrange formulation under the assumption that there is no slip on the grippers. The control strategy of this robot uses a high-level planner to determine the grip points and a low-level controller to actuate the tail, achieving low energy consumption with high accuracy. Model predictive control (MPC) is applied for the low-level swinging motion controller to determine the optimal torque provided to the tail. In this initial work the robot trajectory is planning based on minimization of the distance travelled. The performance of this robot is discussed based on MATLAB simulation results. The paper concludes by discussing alternative planning/control strategies along with initial work towards experimental validation.

A Study on the Use of Bipolar-Particles-Electrodes in Decolorization of Dyeing Effluents and Its Principle

1987 ◽  
Vol 19 (3-4) ◽  
pp. 391-400 ◽  
Author(s):  
Zhou Ding ◽  
Cai Wei Min ◽  
Wang Qun Hui
Keyword(s):  
Energy Consumption ◽  
High Efficiency ◽  
Low Energy ◽  
Acid Dyes ◽  
Underlying Principle ◽  
Low Energy Consumption ◽  
Transparent Liquid

This paper studies the use of bipolar-particles-electrodes in the decolorization of dyeing effluents. Treatment of highly colored solutions of various soluble dyes (such as direct, reactive, cationic or acid dyes) and also samples of dyeing effluents gave rise to an almost colorless transparent liquid, with removal of CODcr and BOD5 being as high as over 80%. The method is characterized by its high efficiency, low energy consumption and long performance life. A discussion of the underlying principle is given.

scholarly journals A Long-Distance Communication Architecture for Medical Devices Based on LoRaWAN Protocol

Electronics ◽  
2021 ◽  
Vol 10 (8) ◽  
pp. 940
Author(s):  
Nicoleta Cristina Gaitan
Keyword(s):  
Energy Consumption ◽  
Long Range ◽  
Medical Devices ◽  
Low Energy ◽  
Area Network ◽  
Wide Area Network ◽  
Long Distance ◽  
Communication Architecture ◽  
Low Energy Consumption ◽  
Distance Communication

Recent market studies show that the market for remote monitoring devices of different medical parameters will grow exponentially. Globally, more than 4 million individuals will be monitored remotely from the perspective of different health parameters by 2023. Of particular importance is the way of remote transmission of the information acquired from the medical sensors. At this time, there are several methods such as Bluetooth, WI-FI, or other wireless communication interfaces. Recently, the communication based on LoRa (Long Range) technology has had an explosive development that allows the transmission of information over long distances with low energy consumption. The implementation of the IoT (Internet of Things) applications using LoRa devices based on open Long Range Wide-Area Network (LoRaWAN) protocol for long distances with low energy consumption can also be used in the medical field. Therefore, in this paper, we proposed and developed a long-distance communication architecture for medical devices based on the LoRaWAN protocol that allows data communications over a distance of more than 10 km.

Absorbent cotton derived mesoporous CeO2 hollow tubule for enhanced detection of p-xylene at low energy consumption

2021 ◽  
pp. 159774
Author(s):  
Jing-Shuo Liu ◽  
Bao-Yu Song ◽  
Jing Huang ◽  
Zhao-Peng Deng ◽  
Xian-Fa Zhang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Low Energy ◽  
Absorbent Cotton ◽  
Low Energy Consumption ◽  
Mesoporous Ceo2
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