Local and trajectory-based indexes for task-related energetic performance optimization of robotic manipulators

2021 ◽  
pp. 1-12
Author(s):  
Fabrizio Vidussi ◽  
Paolo Boscariol ◽  
Lorenzo Scalera ◽  
Alessandro Gasparetto
Keyword(s):  
Energy Consumption ◽  
Performance Optimization ◽  
Robotic Manipulators ◽  
Dynamic Simulations ◽  
Theoretical Formulation ◽  
Inertia Ellipsoid ◽  
Point To Point ◽  
Energetic Performance ◽  
Pick And Place Operation ◽  
Good Agreement

Abstract In this paper a task-dependent energy analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energetic consumption of a robotic manipulator to its inertia ellipsoid. To validate the method, the dynamic and electro-mechanic models of a 3-DOF SCARA robot are implemented and the influence of the location of a predefined point-to-point task (such as a pick-and-place operation) within the robot workspace is considered. The task-dependent analysis provides energy consumption maps that are compared with the prediction of the theoretical formulation based on the proposed Trajectory Energy Index (TEI), which can be used to optimally locate the task to obtain minimal energy consumption without having to compute it through extensive dynamic simulations. Results show the effectiveness of the method and the good agreement between the TEI and the effective energy consumption within the whole workspace of the robot for several trajectories.

scholarly journals Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis

Machines ◽  
2020 ◽  
Vol 8 (1) ◽  
pp. 10 ◽  
Author(s):  
Lorenzo Scalera ◽  
Paolo Boscariol ◽  
Giovanni Carabin ◽  
Renato Vidoni ◽  
Alessandro Gasparetto
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Energy Efficient ◽  
Parallel Robot ◽  
Optimal Position ◽  
Pick And Place ◽  
Mechanical Models ◽  
Energetic Performance ◽  
Pick And Place Operation ◽  
Robot Workspace

Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal position of the task relative to the robot can indeed reduce the actuators’ effort and the energy consumption required to complete the considered operation. The dynamic and electro-mechanical models of the manipulators are developed and implemented to estimate the energy consumption of a parametrized motion with trapezoidal speed profile, i.e., a pick-and-place operation. Numerical results provide energy consumption maps that can be adopted to place the starting and ending points of the task in the more energy-efficient location within the robot workspace.

Interference mitigation in point to point wireless sensor networks using LSP protocol and time division multiplexing approach

2020 ◽  
Vol 39 (4) ◽  
pp. 5449-5458
Author(s):  
A. Arokiaraj Jovith ◽  
S.V. Kasmir Raja ◽  
A. Razia Sulthana
Keyword(s):  
Energy Consumption ◽  
Large Scale ◽  
Control Parameter ◽  
Interference Mitigation ◽  
Wireless Sensor ◽  
Point To Point ◽  
A Minor ◽  
Two Stages ◽  
Time Division ◽  
And Control

Interference in Wireless Sensor Network (WSN) predominantly affects the performance of the WSN. Energy consumption in WSN is one of the greatest concerns in the current generation. This work presents an approach for interference measurement and interference mitigation in point to point network. The nodes are distributed in the network and interference is measured by grouping the nodes in the region of a specific diameter. Hence this approach is scalable and isextended to large scale WSN. Interference is measured in two stages. In the first stage, interference is overcome by allocating time slots to the node stations in Time Division Multiple Access (TDMA) fashion. The node area is split into larger regions and smaller regions. The time slots are allocated to smaller regions in TDMA fashion. A TDMA based time slot allocation algorithm is proposed in this paper to enable reuse of timeslots with minimal interference between smaller regions. In the second stage, the network density and control parameter is introduced to reduce interference in a minor level within smaller node regions. The algorithm issimulated and the system is tested with varying control parameter. The node-level interference and the energy dissipation at nodes are captured by varying the node density of the network. The results indicate that the proposed approach measures the interference and mitigates with minimal energy consumption at nodes and with less overhead transmission.

scholarly journals Batch Reverse Osmosis Desalination Modeling under a Time-Dependent Pressure Profile

Membranes ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 173
Author(s):  
Abdeljalil Chougradi ◽  
François Zaviska ◽  
Ahmed Abed ◽  
Jérôme Harmand ◽  
Jamal-Eddine Jellal ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Reverse Osmosis ◽  
Specific Energy ◽  
Energy Demand ◽  
Specific Energy Consumption ◽  
Pressure Profile ◽  
Recovery Ratio ◽  
Feed Concentration ◽  
Energetic Performance ◽  
Feed Volume

As world demand for clean water increases, reverse osmosis (RO) desalination has emerged as an attractive solution. Continuous RO is the most used desalination technology today. However, a new generation of configurations, working in unsteady-state feed concentration and pressure, have gained more attention recently, including the batch RO process. Our work presents a mathematical modeling for batch RO that offers the possibility of monitoring all variables of the process, including specific energy consumption, as a function of time and the recovery ratio. Validation is achieved by comparison with data from the experimental set-up and an existing model in the literature. Energetic comparison with continuous RO processes confirms that batch RO can be more energy efficient than can continuous RO, especially at a higher recovery ratio. It used, at recovery, 31% less energy for seawater and 19% less energy for brackish water. Modeling also proves that the batch RO process does not have to function under constant flux to deliver good energetic performance. In fact, under a linear pressure profile, batch RO can still deliver better energetic performance than can a continuous configuration. The parameters analysis shows that salinity, pump and energy recovery devices efficiencies are directly linked to the energy demand. While increasing feed volume has a limited effect after a certain volume due to dilution, it also shows, interestingly, a recovery ratio interval in which feed volume does not affect specific energy consumption.

scholarly journals Analysis of Radial Inflow Turbine Losses Operating with Supercritical Carbon Dioxide

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3561
Author(s):  
Antti Uusitalo ◽  
Aki Grönman
Keyword(s):  
Fluid Dynamic ◽  
Dynamic Simulations ◽  
Average Deviation ◽  
Loss Analysis ◽  
Specific Speed ◽  
Loss Models ◽  
Rotor Losses ◽  
Radial Turbines ◽  
Design Power ◽  
Good Agreement

The losses of supercritical CO2 radial turbines with design power scales of about 1 MW were investigated by using computational fluid dynamic simulations. The simulation results were compared with loss predictions from enthalpy loss correlations. The aim of the study was to investigate how the expansion losses are divided between the stator and rotor as well as to compare the loss predictions obtained with the different methods for turbine designs with varying specific speeds. It was observed that a reasonably good agreement between the 1D loss correlations and computational fluid dynamics results can be obtained by using a suitable set of loss correlations. The use of different passage loss models led to high deviations in the predicted rotor losses, especially with turbine designs having the highest or lowest specific speeds. The best agreement in respect to CFD results with the average deviation of less than 10% was found when using the CETI passage loss model. In addition, the other investigated passage loss models provided relatively good agreement for some of the analyzed turbine designs, but the deviations were higher when considering the full specific speed range that was investigated. The stator loss analysis revealed that despite some differences in the predicted losses between the methods, a similar trend in the development of the losses was observed as the turbine specific speed was changed.

scholarly journals Numerical study of hydrogen mild combustion

2009 ◽  
Vol 13 (3) ◽  
pp. 59-67 ◽  
Author(s):  
Enrico Mollica ◽  
Eugenio Giacomazzi ◽  
Marco di
Keyword(s):  
Numerical Study ◽  
Fluid Dynamic ◽  
Thermal Gradients ◽  
Radiation Model ◽  
Dynamic Simulations ◽  
Mild Combustion ◽  
Preheating Temperature ◽  
Nitric Oxide Emissions ◽  
Gas Recirculation ◽  
Good Agreement

In this article a combustor burning hydrogen and air in mild regime is numerically studied by means of computational fluid dynamic simulations. All the numerical results show a good agreement with experimental data. It is seen that the flow configuration is characterized by strong exhaust gas recirculation with high air preheating temperature. As a consequence, the reaction zone is found to be characteristically broad and the temperature and concentrations fields are sufficiently homogeneous and uniform, leading to a strong abatement of nitric oxide emissions. It is also observed that the reduction of thermal gradients is achieved mainly through the extension of combustion in the whole volume of the combustion chamber, so that a flame front no longer exists ('flameless oxidation'). The effect of preheating, further dilution provided by inner recirculation and of radiation model for the present hydrogen/air mild burner are analyzed.

Motion Planning of an Innovative Serial Robot for Energy Consumption Reduction With “On Fly” Pieces Grasping

2008 ◽  
Author(s):  
Andrea Menegolo ◽  
Roberto Bussola ◽  
Diego Tosi
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Cycle Time ◽  
Moving Objects ◽  
Vision System ◽  
Rotation Velocity ◽  
Simulation Software ◽  
Serial Robot ◽  
Planning Algorithm ◽  
Point To Point

The following study deals with the on-line motion planning of an innovative SCARA like robot with unlimited joint rotations. The application field is the robotic interception of moving objects randomly distributed on a conveyor and detected by a vision system. A motion planning algorithm was developed in order to achieve a satisfactory cycle time and energy consumption. The algorithm is based on the evaluation of the inertial actions arisen in the robot structure during the pick and place motions and it aims to keep constant the rotation velocity of the first joint during the motion, the grasping and the discarding phases. Since the algorithm must be applied run time and the number of the reachable pieces can be high, a particular care was dedicated to the computational burden reduction. Subsequently to an analytic study of the kinematical constraints and the criteria definition for the choice of which piece to grasp, a devoted simulation software was developed. The software allows the control and the evaluation of the effects of all the main parameters on the system behavior and a comparison of the cycle time and the energy consumption between the proposed algorithm and a standard point-to-point motion strategy.

scholarly journals Pressure-driven flow of suspensions: simulation and theory

1994 ◽  
Vol 275 ◽  
pp. 157-199 ◽  
Author(s):  
Prabhu R. Nott ◽  
John F. Brady
Keyword(s):  
Particle Velocity ◽  
Particle Migration ◽  
Channel Width ◽  
Stokesian Dynamics ◽  
Dynamic Simulations ◽  
Inhomogeneous Flow ◽  
Pressure Driven Flow ◽  
Energy Balances ◽  
Good Agreement ◽  
Pressure Driven

Dynamic simulations of the pressure-driven flow in a channel of a non-Brownian suspension at zero Reynolds number were conducted using Stokesian Dynamics. The simulations are for a monolayer of identical particles as a function of the dimensionless channel width and the bulk particle concentration. Starting from a homogeneous dispersion, the particles gradually migrate towards the centre of the channel, resulting in an homogeneous concentration profile and a blunting of the particle velocity profile. The time for achieving steady state scales as (H/a)3a/〈u〉, where H is the channel width, a the radii of the particles, and 〈u〉 the average suspension velocity in the channel. The concentration and velocity profiles determined from the simulations are in qualitative agreement with experiment.A model for suspension flow has been proposed in which macroscopic mass, momentum and energy balances are constructed and solved simultaneously. It is shown that the requirement that the suspension pressure be constant in directions perpendicular to the mean motion leads to particle migration and concentration variations in inhomogeneous flow. The concept of the suspension ‘temperature’ – a measure of the particle velocity fluctuations – is introduced in order to provide a nonlocal description of suspension behaviour. The results of this model for channel flow are in good agreement with the simulations.

scholarly journals Design and Application of Cellular Concrete on a Mexican Residential Building and Its Influence on Energy Savings in Hot Climates: Projections to 2050

2020 ◽  
Vol 10 (22) ◽  
pp. 8225
Author(s):  
Ana C. Borbon-Almada ◽  
Jorge Lucero-Alvarez ◽  
Norma A. Rodriguez-Muñoz ◽  
Manuel Ramirez-Celaya ◽  
Samuel Castro-Brockman ◽  
...  
Keyword(s):  
Climate Change ◽  
Energy Consumption ◽  
Energy Use ◽  
Energy Savings ◽  
Design Stage ◽  
Second Phase ◽  
Dynamic Simulations ◽  
Conventional Concrete ◽  
The Impact ◽  
Cellular Concrete

The thermal performance of economical housing located in hot climates remains a pending subject, especially in emerging economies. A cellular concrete mixture was designed, considering its thermophysical properties, to apply the new material into building envelopes. The proposed materials have low density and thermal conductivity to be used as a nonstructural lightweight construction element. From the design stage, a series of wall systems based on cellular concrete was proposed. Whereas in the second phase, the materials were analyzed to obtain the potential energy savings using dynamic simulations. It is foreseen that the energy consumption in buildings located in these climates will continue to increase critically due to the temperature increase associated with climate change. The temperatures predicted mean vote (PMV), electric energy consumption, and CO2 emissions were calculated for three IPCC scenarios. These results will help to identify the impact of climate change on the energy use of the houses built under these weather conditions. The results show that if the conventional concrete blocks continue to be used, the air conditioning energy requirements will increase to 49% for 2030 and 61% by 2050. The proposed cellular concrete could reduce energy consumption between 15% and 28%, and these saving rates would remain in the future. The results indicate that it is necessary to drive the adoption of lightweight materials, so the impact of energy use on climate change can be reduced.

scholarly journals Efficient Gear Ratio Selection of a Single-Speed Drivetrain for Improved Electric Vehicle Energy Consumption

2020 ◽  
Vol 12 (21) ◽  
pp. 9254
Author(s):  
Polychronis Spanoudakis ◽  
Gerasimos Moschopoulos ◽  
Theodoros Stefanoulis ◽  
Nikolaos Sarantinoudis ◽  
Eftichios Papadokokolakis ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Electric Vehicle ◽  
Dynamic Model ◽  
Electric Vehicles ◽  
Gear Ratio ◽  
Test Bed ◽  
Time Data ◽  
Dynamic Simulations ◽  
Ratio Set ◽  
Selection Of

The electric vehicle (EV) market has grown over the last few years and even though electric vehicles do not currently possess a high market segment, it is projected that they will do so by 2030. Currently, the electric vehicle industry is looking to resolve the issue of vehicle range, using higher battery capacities and fast charging. Energy consumption is a key issue which heavily effects charging frequency and infrastructure and, therefore, the widespread use of EVs. Although several factors that influence energy consumption of EVs have been identified, a key technology that can make electric vehicles more energy efficient is drivetrain design and development. Based on electric motors’ high torque capabilities, single-speed transmissions are preferred on many light and urban vehicles. In the context of this paper, a prototype electric vehicle is used as a test bed to evaluate energy consumption related to different gear ratio usage on single-speed transmission. For this purpose, real-time data are recorded from experimental road tests and a dynamic model of the vehicle is created and fine-tuned using dedicated software. Dynamic simulations are performed to compare and evaluate different gear ratio set-ups, providing valuable insights into their effect on energy consumption. The correlation of experimental and simulation data is used for the validation of the dynamic model and the evaluation of the results towards the selection of the optimal gear ratio. Based on the aforementioned data, we provide useful information from numerous experimental and simulation results that can be used to evaluate gear ratio effects on electric vehicles’ energy consumption and, at the same time, help to formulate evolving concepts of smart grid and EV integration.

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