scholarly journals Path Tracking of an Underwater Snake Robot and Locomotion Efficiency Optimization Based on Improved Pigeon-Inspired Algorithm

2022 ◽  
Vol 10 (1) ◽  
pp. 47
Author(s):  
Bo Xu ◽  
Mingyu Jiao ◽  
Xianku Zhang ◽  
Dalong Zhang
Keyword(s):  
Energy Efficiency ◽  
Tracking Control ◽  
Spline Interpolation ◽  
Snake Robot ◽  
Efficiency Optimization ◽  
Improve Energy Efficiency ◽  
Robot Locomotion ◽  
Gait Parameters ◽  
Curved Paths ◽  
Parametric Cubic Spline

This paper considers the tracking control of curved paths for an underwater snake robot, and investigates the methods used to improve energy efficiency. Combined with the path-planning method based on PCSI (parametric cubic-spline interpolation), an improved LOS (light of sight) method is proposed to design the controller and guide the robot to move along the desired path. The evaluation of the energy efficiency of robot locomotion is discussed. In particular, a pigeon-inspired optimization algorithm improved by quantum rules (QPIO) is proposed for dynamically selecting the gait parameters that maximize energy efficiency. Simulation results show that the proposed controller enables the robot to accurately follow the curved path and that the QPIO algorithm is effective in improving robot energy efficiency.

scholarly journals Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

MENDEL ◽  
2020 ◽  
Vol 26 (1) ◽  
pp. 1-6
Author(s):  
Tomáš Hůlka ◽  
Radomil Matoušek ◽  
Ladislav Dobrovský ◽  
Monika Dosoudilová ◽  
Lars Nolle
Keyword(s):  
Fitness Function ◽  
Function Evaluation ◽  
Virtual Model ◽  
Simulation Environment ◽  
Simulation Framework ◽  
Snake Robot ◽  
Robot Locomotion ◽  
Gait Parameters ◽  
Physics Simulation ◽  
Optimal Gait

This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

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.

Energy efficiency optimization of PCM and aerogel-filled multiple glazing windows

Energy ◽  
2021 ◽  
Vol 222 ◽  
pp. 119916
Author(s):  
Shu Zhang ◽  
Wanyu Hu ◽  
Dong Li ◽  
Chengjun Zhang ◽  
Müslüm Arıcı ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Efficiency Optimization

scholarly journals Are Cross-Border Classes Feasible for Students to Collaborate in the Analysis of Energy Efficiency Strategies for Socioeconomic Development While Keeping CO2 Concentration Controlled?

2021 ◽  
Vol 13 (3) ◽  
pp. 1584
Author(s):  
Roberto Araya ◽  
Pedro Collanqui
Keyword(s):  
Energy Efficiency ◽  
Socioeconomic Development ◽  
Concept Maps ◽  
Research Question ◽  
Co2 Concentration ◽  
Asia Pacific ◽  
School Students ◽  
Improve Energy Efficiency ◽  
Cross Border ◽  
Science Classes

Education is critical for improving energy efficiency and reducing CO2 concentration, but collaboration between countries is also critical. It is a global problem in which we cannot isolate ourselves. Our students must learn to collaborate in seeking solutions together with others from other countries. Thus, the research question of this study is whether interactive cross-border science classes with energy experiments are feasible and can increase awareness of energy efficiency among middle school students. We designed and tested an interactive cross-border class between Chilean and Peruvian eighth-grade classes. The classes were synchronously connected and all students did experiments and answered open-ended questions on an online platform. Some of the questions were designed to check conceptual understanding whereas others asked for suggestions of how to develop their economies while keeping CO2 air concentration at acceptable levels. In real time, the teacher reviewed the students’ written answers and the concept maps that were automatically generated based on their responses. Students peer-reviewed their classmates’ suggestions. This is part of an Asia-Pacific Economic Cooperation (APEC) Science Technology Engineering Mathematics (STEM) education project on energy efficiency using APEC databases. We found high levels of student engagement, where students discussed not only the cross-cutting nature of energy, but also its relation to socioeconomic development and CO2 emissions, and the need to work together to improve energy efficiency. In conclusion, interactive cross-border science classes are a feasible educational alternative, with potential as a scalable public policy strategy for improving awareness of energy efficiency among the population.

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