scholarly journals Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms

2021 ◽  
Vol 11 (3) ◽  
pp. 1339
Author(s):  
Mindaugas Luneckas ◽  
Tomas Luneckas ◽  
Jonas Kriaučiūnas ◽  
Dainius Udris ◽  
Darius Plonis ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Heuristic Algorithms ◽  
Minimum Energy ◽  
Real Life ◽  
Target Function ◽  
Movement Speed ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Cost Of Transport ◽  
Irregular Terrain

Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.

Study on hexapod robot manipulation using legs

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 468-481 ◽  
Author(s):  
Xilun Ding ◽  
Fan Yang
Keyword(s):  
Energy Consumption ◽  
Optimization Algorithm ◽  
Control Model ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Robot Manipulation ◽  
Novel Approach ◽  
Kinematic Models ◽  
Reduce Energy Consumption

SUMMARYIn order to provide a novel approach for the operational problems of walking robots, this paper presents a method by which a hexapod robot uses its legs to manipulate an object, and this involves the following two steps. First, two adjacent legs are used to manipulate the object. Next, the supporting legs are required to assist the arms to obtain high manipulability. The manipulation constraints, workplaces, and kinematic models are analyzed using screw theories. Moreover, an optimization algorithm is proposed to reduce energy consumption under stability constraints. We also introduce a manipulation control model that simultaneously considers the supporting and operating legs. Finally, the validity of these methods is proved by the results of experiments and simulations.

scholarly journals Algorithm of Energy Efficiency Improvement for Intelligent Devices in Railway Transport

2016 ◽  
Vol 10 (1) ◽  
pp. 29-34
Author(s):  
Anna Beinaroviča ◽  
Mihails Gorobecs ◽  
Anatolijs Ļevčenkovs
Keyword(s):  
Artificial Intelligence ◽  
Energy Consumption ◽  
Data Storage ◽  
Motor Vehicle ◽  
Minimum Energy ◽  
Target Function ◽  
Main Task ◽  
Energy Efficiency Improvement ◽  
Minimum Energy Consumption ◽  
Intelligent Devices

Abstract The present paper deals with the use of systems and devices with artificial intelligence in the motor vehicle driving. The main objective of transport operations is a transportation planning with minimum energy consumption. There are various methods for energy saving, and the paper discusses one of them – proper planning of transport operations. To gain proper planning it is necessary to involve the system and devices with artificial intelligence. They will display possible developments in the choice of one or another transport plan. Consequently, it can be supposed how much the plan is effective against the spent energy. The intelligent device considered in this paper consists of an algorithm, a database, and the internet for the connection to other intelligent devices. The main task of the target function is to minimize the total downtime at intermediate stations. A specific unique PHP-based computer model was created. It uses the MySQL database for simulation data storage and processing. Conclusions based on the experiments were made. The experiments showed that after optimization, a train can pass intermediate stations without making multiple stops breaking and accelerating, which leads to decreased energy consumption.

Energy Efficient Group Based Linear Wireless Sensor Networks for Application in Pipeline Monitoring

2020 ◽  
Vol 10 ◽  
Author(s):  
Chinedu Duru ◽  
Neco Ventura ◽  
Mqhele Dlodlo
Keyword(s):  
Wireless Sensor Networks ◽  
Energy Consumption ◽  
Sensor Networks ◽  
Remote Monitoring ◽  
Linear Array ◽  
Minimum Energy ◽  
Sensor Nodes ◽  
Wireless Sensor ◽  
Sink Node ◽  
Pipeline Monitoring

Background: Wireless Sensor Networks (WSNs) have been researched to be one of the ground-breaking technologies for the remote monitoring of pipeline infrastructure of the Oil and Gas industry. Research have also shown that the preferred deployment approach of the sensor network on pipeline structures follows a linear array of nodes, placed a distance apart from each other across the infrastructure length. The linear array topology of the sensor nodes gives rise to the name Linear Wireless Sensor Networks (LWSNs) which over the years have seen themselves being applied to pipelines for effective remote monitoring and surveillance. This paper aims to investigate the energy consumption issue associated with LWSNs deployed in cluster-based fashion along a pipeline infrastructure. Methods: Through quantitative analysis, the study attempts to approach the investigation conceptually focusing on mathematical analysis of proposed models to bring about conjectures on energy consumption performance. Results: From the derived analysis, results have shown that energy consumption is diminished to a minimum if there is a sink for every placed sensor node in the LWSN. To be precise, the analysis conceptually demonstrate that groups containing small number of nodes with a corresponding sink node is the approach to follow when pursuing a cluster-based LWSN for pipeline monitoring applications. Conclusion: From the results, it is discovered that energy consumption of a deployed LWSN can be decreased by creating groups out of the total deployed nodes with a sink servicing each group. In essence, the smaller number of nodes each group contains with a corresponding sink, the less energy consumed in total for the entire LWSN. This therefore means that a sink for every individual node will attribute to minimum energy consumption for every non-sink node. From the study, it can be concurred that energy consumption of a LWSN is inversely proportional to the number of sinks deployed and hence the number of groups created.

scholarly journals Energy-Efficient Packet Forwarding Scheme Based on Fuzzy Decision-Making in Underwater Sensor Networks

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4368
Author(s):  
Jitander Kumar Pabani ◽  
Miguel-Ángel Luque-Nieto ◽  
Waheeduddin Hyder ◽  
Pablo Otero
Keyword(s):  
Energy Consumption ◽  
Sensor Networks ◽  
Energy Efficient ◽  
Real Life ◽  
Base Station ◽  
Fuzzy Decision Making ◽  
Underwater Sensor Networks ◽  
Packet Forwarding ◽  
Node Number ◽  
The Impact

Underwater Wireless Sensor Networks (UWSNs) are subjected to a multitude of real-life challenges. Maintaining adequate power consumption is one of the critical ones, for obvious reasons. This includes proper energy consumption due to nodes close to and far from the sink node (gateway), which affect the overall energy efficiency of the system. These wireless sensors gather and route the data to the onshore base station through the gateway at the sea surface. However, finding an optimum and efficient path from the source node to the gateway is a challenging task. The common reasons for the loss of energy in existing routing protocols for underwater are (1) a node shut down due to battery drainage, (2) packet loss or packet collision which causes re-transmission and hence affects the performance of the system, and (3) inappropriate selection of sensor node for forwarding data. To address these issues, an energy efficient packet forwarding scheme using fuzzy logic is proposed in this work. The proposed protocol uses three metrics: number of hops to reach the gateway node, number of neighbors (in the transmission range of a node) and the distance (or its equivalent received signal strength indicator, RSSI) in a 3D UWSN architecture. In addition, the performance of the system is also tested with adaptive and non-adaptive transmission ranges and scalable number of nodes to see the impact on energy consumption and number of hops. Simulation results show that the proposed protocol performs better than other existing techniques or in terms of parameters used in this scheme.

scholarly journals Thermodynamic Study of Energy Consumption and Carbon Dioxide Emission in Ironmaking Process of the Reduction of Iron Oxides by Carbon

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1999
Author(s):  
Guanyong Sun ◽  
Bin Li ◽  
Hanjie Guo ◽  
Wensheng Yang ◽  
Shaoying Li ◽  
...  
Keyword(s):  
Carbon Dioxide ◽  
Energy Consumption ◽  
Iron Oxides ◽  
Volume Fraction ◽  
Minimum Energy ◽  
Carbon Dioxide Emission ◽  
Reduction Reactions ◽  
Co2 Output ◽  
Coupling Parameters ◽  
Ironmaking Process

Carbon included in coke and coal was used as a reduction agent and fuel in blast furnace (BF) ironmaking processes, which released large quantities of carbon dioxide (CO2). Minimizing the carbon consumption and CO2 output has always the goal of ironmaking research. In this paper, the reduction reactions of iron oxides by carbon, the gasification reaction of carbon by CO2, and the coupling reactions were studied by thermodynamic functions, which were derived from isobaric specific heat capacity. The reaction enthalpy at 298 K could not represent the heat value at the other reaction temperature, so the certain temperature should be confirmed by Gibbs frees energy and gas partial pressure. Based on Hess’ law, the energy consumption of the ironmaking process by carbon was calculated in detail. The decrease in the reduction temperature of solid metal iron has been beneficial in reducing the sensible heat required. When the volume ratio of CO to CO2 in the top gas of the furnace was given as 1.1–1.5, the coupling parameters of carbon gasification were 1.06–1.28 for Fe2O3, 0.71–0.85 for Fe3O4, 0.35–0.43 for FeO, respectively. With the increase in the coupling parameters, the volume fraction of CO2 decreased, and energy consumption and CO2 output increased. The minimum energy consumption and CO2 output of liquid iron production were in the reduction reactions with only CO2 generated, which were 9.952 GJ/t and 1265.854 kg/t from Fe2O3, 9.761 GJ/t and 1226.799 kg/t from Fe3O4, 9.007 GJ/t and 1107.368 kg/t from FeO, respectively. Compared with the current energy consumption of 11.65 GJ/t hot metal (HM) and CO2 output of 1650 kg/tHM of BF, the energy consumption and CO2 of ironmaking by carbon could reach lower levels by decreasing the coupled gasification reactions, lowering the temperature needed to generate solid Fe and adjusting the iron oxides to improve the iron content in the raw material. This article provides a simplified calculation method to understand the limit of energy consumption and CO2 output of ironmaking by carbon reduction iron oxides.

scholarly journals Development of Packaging and Modular Control of Thermoelectric Clothes Dryer, With Performance Evaluation

2017 ◽  
Author(s):  
Viral K. Patel ◽  
Kyle R. Gluesenkamp
Keyword(s):  
Energy Consumption ◽  
Heat Pump ◽  
Minimum Energy ◽  
Experimental System ◽  
The United States ◽  
Primary Energy ◽  
System Level ◽  
Clothes Dryer ◽  
Thermoelectric Heat Pump ◽  
Thermoelectric Heat

This paper provides an overview of a thermoelectric heat pump clothes dryer which was developed with the aim of reducing the significant primary energy consumption attributed to residential electric clothes drying in the United States (623 TBtu/yr). The use of thermoelectric modules in place of the conventional electric resistance heater resulted in a 40% reduction in the energy consumption of the system, compared to the minimum energy efficiency standard. This was achieved for the first time for a standard test load of 8.45 lb, using a clothes dryer prototype with a thermoelectric heat pump module as the sole heating mechanism. The current experimental prototype was developed after extensive modeling, system design and control optimization, and experimental system-level evaluation of control parameters. The demonstration of improved energy consumption has laid the foundation for future development of this technology.

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