scholarly journals Motion Planning of Ground Simulator for Space Instable Target Based on Energy Saving

Machines ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 368
Author(s):  
Xinlin Bai ◽  
Xiwen Li ◽  
Zhen Zhao ◽  
Mingyi Yang ◽  
Zhang Zhang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Energy Saving ◽  
Planning Process ◽  
Minimum Energy ◽  
Robot Motion ◽  
Dijkstra Algorithm ◽  
Minimum Energy Consumption ◽  
Motion Simulator ◽  
Save Energy

In order to achieve the high-precision motion trajectory in ground experiment of space instable target (SIT) while reducing the energy consumption of the motion simulator, a robot motion planning method based on energy saving is proposed. Observable-based ground robot motion experiment system for SIT is designed and motion planning process is illustrated. Discrete optimization mathematical model of energy consumption of motion simulator is established. The general motion form of the robot joints in ground test is given. The optimal joint path of motion simulator based on energy consumption under discontinuous singularity configuration is solved by constructing the complete energy consumption directed path and Dijkstra algorithm. An improved method by adding the global optimization algorithm is used to decouple the coupled robot joints to obtain the minimum energy consumption path under the continuous singularity configuration of the motion simulator. Simulations are carried out to verify the proposed solution. The simulation data show that total energy saving of motion simulator joints adopting the proposed method under the condition of non-singularity configuration, joints coupled motion with continuous singularity configuration, and coexistence of non-singularity path and continuous singularity path are, respectively, 72.67%, 28.24%, and 62.23%, which proves that the proposed method can meet the requirements of ground motion simulation for SIT and effectively save energy.

A Energy-Saving Path-Shared Protection Based on Diversity Network Coding for Multi-rate Multicast in WDM Mesh Networks

2017 ◽  
Vol 38 (3) ◽  
Author(s):  
Danling Zheng ◽  
Lei Lv ◽  
Huanlin Liu
Keyword(s):  
Energy Consumption ◽  
Energy Saving ◽  
Network Coding ◽  
Wavelength Division Multiplexing ◽  
Mesh Networks ◽  
Minimum Energy ◽  
Bandwidth Utilization ◽  
Shared Protection ◽  
Minimum Energy Consumption ◽  
Save Energy

AbstractFor improving the survivability and energy saving of multi-rate multicast, a novel energy-saving path-shared protection based on diversity network coding (EPP-DNC) for multi-rate multicast in wavelength division multiplexing (WDM) mesh networks is proposed in the paper. In the EPP-DNC algorithm, diversity network coding on the source node for multi-rate multicast is adopted to reduce the coding energy consumption by avoiding network coding on the network’s intermediate nodes. To decrease the transmission energy, shortest path shared based on heuristic is proposed to transmit the protection information for the request. To provision request’s working paths efficiency, the working paths are routed on the preselected P-cycles with minimum required links and minimum energy consumption. Simulation results show that the proposed EPP-DNC can save energy consumption and improve bandwidth utilization.

MOTION PLANNING FOR 6-DOF ASSEMBLY PART POSITIONING AND ALIGNMENT ADJUSTMENT

2013 ◽  
Vol 37 (2) ◽  
pp. 161-183 ◽  
Author(s):  
Jun Hong ◽  
Shao F. Wang ◽  
Emenike Chukwuma ◽  
Jing H. Zhang ◽  
Zhi G. Liu
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Objective Function ◽  
Test Data ◽  
Parallel Mechanism ◽  
Minimum Energy ◽  
Planning Method ◽  
Minimum Energy Consumption ◽  
Redundantly Actuated

In this paper, a 4-PPPS redundantly actuated parallel mechanism and its motion planning method are proposed. The mechanism can be applied to the positioning and alignment of large subassembly in engineering assembly. The optimization of the positioning and alignment trajectory is performed with the minimum energy consumption as the objective function. The system test data shows that the assembly platform and the motion planning method can satisfy the requirements of accuracy, efficiency and stability of the positioning and alignment operations.

Application of Evolutionary Algorithms for Humanoid Robot Motion Planning

2010 ◽  
Vol 3 (4) ◽  
pp. 21-33
Author(s):  
G. Capi ◽  
K. Mitobe
Keyword(s):  
Motion Planning ◽  
Humanoid Robot ◽  
Optimization Problem ◽  
Walking Speed ◽  
Fitness Function ◽  
Minimum Energy ◽  
Multiple Objectives ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Minimum Energy Consumption

In this article, the authors present a new method for humanoid robot motion planning, satisfying multiple objectives. In this method, the multiple objectives humanoid robot motion is formulated as a multiobjective optimization problem, considering each objective as a separate fitness function. Three different objectives are considered: (1) minimum energy consumption; (2) stability; and (3) walking speed. The advantage of the proposed method is that, in a single run of multiobjective evolution, generated humanoid robot motions satisfy each objective separately or multiple objectives simultaneously. Therefore, the humanoid robot can switch between different gaits based on environmental conditions. The results show that humanoid robot gaits generated by multiobjective evolution are similar to that of humans. To further verify the performance of optimal motions, they are transferred to the “Bonten-Maru” humanoid robot.

Minimum energy consumption process synthesis for energy saving

2008 ◽  
Vol 52 (7) ◽  
pp. 1000-1005 ◽  
Author(s):  
Jia Xiao-Ping ◽  
Wang Fang ◽  
Xiang Shu-Guang ◽  
Tan Xin-Sun ◽  
Han Fang-Yu
Keyword(s):  
Energy Consumption ◽  
Energy Saving ◽  
Minimum Energy ◽  
Process Synthesis ◽  
Minimum Energy Consumption

Optimal Hop Lengths to Ensure Minimum Energy Consumption in Wireless Sensor Networks

2020 ◽  
pp. 105-124
Author(s):  
Mekkaoui Kheireddine ◽  
Rahmoune Abdellatif
Keyword(s):  
Wireless Sensor Networks ◽  
Energy Consumption ◽  
Sensor Networks ◽  
High Performance ◽  
Routing Algorithm ◽  
Minimum Energy ◽  
Wireless Sensor ◽  
Minimum Energy Consumption ◽  
Small Antenna ◽  
Save Energy

In wireless sensor networks, nodes have a low computing capacity, a small antenna and a very limited energy source; thereby batteries are considered as a critical resource and should be used efficiently. On the other hand, the antennas are the biggest consumers of energy, therefore, and their use must be very efficient to minimize energy consumption. In a dense WSN, each node may route messages to destination nodes either through short-hops or long-hops, by using a short or a long radio range. Thus, the hop length optimization can save energy. In this article, the authors propose a theorem to optimize the hop lengths and a routing algorithm to improve the WSN power consumption. The theorem establishes a simple condition to ensure the optimal hop lengths which guarantees the minimum energy consumption. And the proposed algorithm based on that condition is used to find the optimal routing path. The simulation results are obtained by applying the condition and the algorithm on WSNs and reveals a high performance regarding WSNs energy consumption and network lifetime.

Optimal Hop Lengths to Ensure Minimum Energy Consumption in Wireless Sensor Networks

2018 ◽  
Vol 9 (4) ◽  
pp. 1-18 ◽  
Author(s):  
Mekkaoui Kheireddine ◽  
Rahmoune Abdellatif
Keyword(s):  
Wireless Sensor Networks ◽  
Energy Consumption ◽  
Sensor Networks ◽  
High Performance ◽  
Routing Algorithm ◽  
Minimum Energy ◽  
Wireless Sensor ◽  
Minimum Energy Consumption ◽  
Small Antenna ◽  
Save Energy

In wireless sensor networks, nodes have a low computing capacity, a small antenna and a very limited energy source; thereby batteries are considered as a critical resource and should be used efficiently. On the other hand, the antennas are the biggest consumers of energy, therefore, and their use must be very efficient to minimize energy consumption. In a dense WSN, each node may route messages to destination nodes either through short-hops or long-hops, by using a short or a long radio range. Thus, the hop length optimization can save energy. In this article, the authors propose a theorem to optimize the hop lengths and a routing algorithm to improve the WSN power consumption. The theorem establishes a simple condition to ensure the optimal hop lengths which guarantees the minimum energy consumption. And the proposed algorithm based on that condition is used to find the optimal routing path. The simulation results are obtained by applying the condition and the algorithm on WSNs and reveals a high performance regarding WSNs energy consumption and network lifetime.

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