Trajectory Generation for the Leg of the Six-Legged Underwater Robot Over Obstacle in the Structured Terrain

2007 ◽  
Author(s):  
Feng Wang ◽  
Linyi Gu ◽  
Bo Zhou ◽  
Ying Chen
Keyword(s):  
Power Consumption ◽  
Trajectory Generation ◽  
Great Influence ◽  
Legged Locomotion ◽  
Underwater Robot ◽  
Crossing Over ◽  
Walking Robot ◽  
Matlab Simulation ◽  
Offshore Area ◽  
Ideal Tool

As safe and effective underwater vehicle, underwater robot is considered to be an ideal tool for the investigation and exploitation in the large offshore area. There has been a growing interest to develop six-legged underwater walking robot for the researchers since the six-legged locomotion is more flexible and adaptable on the seafloor than other types of locomotion. The trajectory for the leg of the six-legged walking robot has a great influence on the locomotion quality and efficiency when the robot is a heavy one. The power consumed in the locomotion with different leg trajectories differs from each other greatly. Therefore, it is of great significance to study the trajectory of the leg. Of all the locomotion of the walking robot, crossing over obstacle is a typical one. Thus this paper mainly studies the trajectory generation for the leg of the six-legged walking robot over obstacle in the structured terrain. The robot has eighteen DOF and all the joints are hydraulically driven. In the current study, technical analysis is performed with the emphasis on the power consumption while crossing over obstacle. The analysis is conducted at various trajectories so as to compare the power consumed in different trajectories. Meanwhile, the study has also taken the smooth movement of the joint into consideration. The trajectory of the leg is theoretically analyzed and simulated. The kinematic simulation and the power consumed with different trajectories are both conducted in MATLAB. Simulation results have demonstrated the influence of trajectory on the power consumption of the robot while crossing over obstacle. The study has provided a theoretical way for the trajectory generation over obstacle for the six-legged walking robot.

Compositional Tuning of Negative Differential Resistance in Bulk Silver Iodide Memristor

2020 ◽  
Author(s):  
SMITA GAJANAN NAIK ◽  
Mohammad Hussain Kasim Rabinal
Keyword(s):  
Power Consumption ◽  
Negative Differential Resistance ◽  
Silver Iodide ◽  
Differential Resistance ◽  
Fast Response ◽  
Low Power Consumption ◽  
Switching Effect ◽  
Memory Switching ◽  
Bulk Silver ◽  
Emerging Memory

Electrical memory switching effect has received a great interest to develop emerging memory technology such as memristors. The high density, fast response, multi-bit storage and low power consumption are their...

Optimal design of a high homogeneous and small-size shim coil for atomic spin gyroscope based on 0-1 linear programming

2020 ◽  
Vol 64 (1-4) ◽  
pp. 165-172
Author(s):  
Dongge Deng ◽  
Mingzhi Zhu ◽  
Qiang Shu ◽  
Baoxu Wang ◽  
Fei Yang
Keyword(s):  
Linear Programming ◽  
Power Consumption ◽  
Low Power ◽  
Optimization Design ◽  
Structural Parameters ◽  
Axial Position ◽  
Low Power Consumption ◽  
Optimal Method ◽  
Atomic Spin ◽  
Shim Coil

It is necessary to develop a high homogeneous, low power consumption, high frequency and small-size shim coil for high precision and low-cost atomic spin gyroscope (ASG). To provide the shim coil, a multi-objective optimization design method is proposed. All structural parameters including the wire diameter are optimized. In addition to the homogeneity, the size of optimized coil, especially the axial position and winding number, is restricted to develop the small-size shim coil with low power consumption. The 0-1 linear programming is adopted in the optimal model to conveniently describe winding distributions. The branch and bound algorithm is used to solve this model. Theoretical optimization results show that the homogeneity of the optimized shim coil is several orders of magnitudes better than the same-size solenoid. A simulation experiment is also conducted. Experimental results show that optimization results are verified, and power consumption of the optimized coil is about half of the solenoid when providing the same uniform magnetic field. This indicates that the proposed optimal method is feasible to develop shim coil for ASG.

Analysis of Characteristics of Halogen and LED Automobile Lamps

2020 ◽  
pp. 57-62
Author(s):  
Olga Yu. Kovalenko ◽  
Yulia A. Zhuravlyova
Keyword(s):  
Power Consumption ◽  
Flip Chip ◽  
Weather Conditions ◽  
Luminous Flux ◽  
Luminous Efficacy ◽  
Colour Temperature ◽  
Study Results ◽  
Calculation Results ◽  
Mandatory Rules ◽  
Halogen Lamps

This work contains analysis of characteristics of automobile lamps by Philips, KOITO, ETI flip chip LEDs, Osram, General Electric (GE), Gtinthebox, OSLAMPledbulbs with H1, H4, H7, H11 caps: luminous flux, luminous efficacy, correlated colour temperature. Characteristics of the studied samples are analysed before the operation of the lamps. The analysis of the calculation results allows us to make a conclusion that the values of correlated colour temperature of halogen lamps are close to the parameters declared by manufacturers. The analysis of the study results has shown that, based on actual values of correlated colour temperature, it is not advisable to use LED lamps in unfavourable weather conditions (such as rain, fog, snow). The results of the study demonstrate that there is a slight dispersion of actual values of luminous flux of halogen lamps by different manufacturers. Maximum variation between values of luminous flux of different lamps does not exceed 14 %. The analysis of the measurement results has shown that actual values of luminous flux of all halogen lamps comply with the mandatory rules specified in the UN/ECE Regulation No. 37 and luminous flux of LED lamps exceeds maximum allowable value by more than 8 %. Luminous efficacy of LED lamps is higher than that of halogen lamps: more than 82 lm/W and lower power consumption. The results of the measurements have shown that power consumption of a LED automobile lamp is lower than that of similar halogen lamps by 3 times and their luminous efficacy is higher by 5 times.

ESTIMATION OF POWER CONSUMPTION DISTRIBUTION IN FPGA-PROJECTS

2014 ◽  
pp. 192-196
Author(s):  
A. Drozd ◽  
◽  
S. Mileiko ◽  
V. Kalinichenko ◽  
N. Ulchenko
Keyword(s):  
Power Consumption

An Ultra-low Power Consumption MAC Protocol Complied with IEEE 802.15.4/4e for Wireless Smart Utility Networks

2016 ◽  
Vol 136 (11) ◽  
pp. 1555-1566 ◽  
Author(s):  
Jun Fujiwara ◽  
Hiroshi Harada ◽  
Takuya Kawata ◽  
Kentaro Sakamoto ◽  
Sota Tsuchiya ◽  
...  
Keyword(s):  
Power Consumption ◽  
Low Power ◽  
Ieee 802.15.4 ◽  
Mac Protocol ◽  
Low Power Consumption ◽  
Ultra Low Power

Instrument for measuring and recording Electrical load profiles

2018 ◽  
pp. 111-115
Author(s):  
Yuri Kolev ◽  
Атanas Atanasov ◽  
Таnia Pehlivanova
Keyword(s):  
Power Consumption ◽  
Simultaneous Recording ◽  
Active Power ◽  
Power Lines ◽  
Electrical Load ◽  
Current Transformers ◽  
Measuring Device ◽  
Load Profile

A load profile measuring device takes information about the power consumption without modification of the power lines. Using current transformers, the current is measured in each of the phases and the active power consumed by the user is determined. The developed software for it allows for simultaneous recording at different user selectable timing intervals. The device is designed and tested in two facilities - a School and a Farm.

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