Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680818
Rodrigo De Carvalho Techi, Plinio Thomaz Aquino
Mobile robots must operate autonomously for sev-eral hours without interruption in battery charging. Energy optimization systems and methods are essential for the applicability of this technology. Dynamic Power Management (DPM) has the objective to reduce a system's total energy demand, through idleness exploitation. If the equipment is not in use, its energy dissipation should be as low as possible. This work presents the existing DPM methods analysis, systems requirements to make it eligible for the DPM, and also the management applicability analysis on a mobile robot.
{"title":"Dynamic Power Management on a Mobile Robot","authors":"Rodrigo De Carvalho Techi, Plinio Thomaz Aquino","doi":"10.1109/ICMERR54363.2021.9680818","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680818","url":null,"abstract":"Mobile robots must operate autonomously for sev-eral hours without interruption in battery charging. Energy optimization systems and methods are essential for the applicability of this technology. Dynamic Power Management (DPM) has the objective to reduce a system's total energy demand, through idleness exploitation. If the equipment is not in use, its energy dissipation should be as low as possible. This work presents the existing DPM methods analysis, systems requirements to make it eligible for the DPM, and also the management applicability analysis on a mobile robot.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116726155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680814
Mohammed Farid Khalil, Abdelrahman Amr Elmaradny, E. Lotfy
Belt skimmers are one of the most widely used techniques in oil-spill recovery for several environmental reasons. This paper aims to illustrate the effect of prismatic artificial surface roughness on the known belt skimmer on its oil recovery rate (ORR). The experimental study was performed involving parameters such as belt inclination angle ranging from 30° to 90°, belt speed ranging from 39 cm/s to 160 cm/s and different oil properties to assess the effect of prismatic roughness on the belt skimmer ORR. The rough belt was found to increase the ORR at low inclination angles. The effect was dominant at highly viscous oils. Enhancement in the ORR due to roughness reached 42% for highly viscous oils at a low inclination angle of 30° and the high belt speed of 108 cm/s. This enhancement decreased gradually with the increase in inclination angle until it reaches an inversion point function of the belt speed beyond which the enhancement effect due to roughness fades gradually. For low viscous oils, the rough belt didn't increase the ORR and had an adverse effect on the belt skimmer performance.
{"title":"Experimental investigation of the effect of prismatic roughness on the performance of belt skimmers in oil spill recovery applications","authors":"Mohammed Farid Khalil, Abdelrahman Amr Elmaradny, E. Lotfy","doi":"10.1109/ICMERR54363.2021.9680814","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680814","url":null,"abstract":"Belt skimmers are one of the most widely used techniques in oil-spill recovery for several environmental reasons. This paper aims to illustrate the effect of prismatic artificial surface roughness on the known belt skimmer on its oil recovery rate (ORR). The experimental study was performed involving parameters such as belt inclination angle ranging from 30° to 90°, belt speed ranging from 39 cm/s to 160 cm/s and different oil properties to assess the effect of prismatic roughness on the belt skimmer ORR. The rough belt was found to increase the ORR at low inclination angles. The effect was dominant at highly viscous oils. Enhancement in the ORR due to roughness reached 42% for highly viscous oils at a low inclination angle of 30° and the high belt speed of 108 cm/s. This enhancement decreased gradually with the increase in inclination angle until it reaches an inversion point function of the belt speed beyond which the enhancement effect due to roughness fades gradually. For low viscous oils, the rough belt didn't increase the ORR and had an adverse effect on the belt skimmer performance.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128272988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680825
Matheus V. A. Pedrosa, Tristan Schneider, K. Flaßkamp
Motion primitives exploit symmetries of nonlinear systems to reduce the complexity of the motion planning problem. A graph search algorithm for motion primitives based on Hybrid $mathrm{A}^{*}$ was developed in a previous work; however, each continuous state is associated with discrete grid-cells and the planning is solved by a numerically complex optimization problem after the search is done. We extend this approach by considering directly the continuous states, which is the first pillar on a continuous state space search. The second pillar is adjusting some primitives' durations by an online optimization problem of reduced complexity. Then, our algorithm is able to solve motion planning tasks for leading the vehicle to an exact desired goal state, while respecting computation time constraints. Two numerical examples are given for a single-track vehicle model.
{"title":"Graph-based Motion Planning with Primitives in a Continuous State Space Search","authors":"Matheus V. A. Pedrosa, Tristan Schneider, K. Flaßkamp","doi":"10.1109/ICMERR54363.2021.9680825","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680825","url":null,"abstract":"Motion primitives exploit symmetries of nonlinear systems to reduce the complexity of the motion planning problem. A graph search algorithm for motion primitives based on Hybrid $mathrm{A}^{*}$ was developed in a previous work; however, each continuous state is associated with discrete grid-cells and the planning is solved by a numerically complex optimization problem after the search is done. We extend this approach by considering directly the continuous states, which is the first pillar on a continuous state space search. The second pillar is adjusting some primitives' durations by an online optimization problem of reduced complexity. Then, our algorithm is able to solve motion planning tasks for leading the vehicle to an exact desired goal state, while respecting computation time constraints. Two numerical examples are given for a single-track vehicle model.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116603344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-15DOI: 10.1109/ICMERR54363.2021.9680831
Saber Kazeminasab, Moein Razavi, Sajad Dehghani, Morteza Khosrotabar, M. Banks
Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a “self-rescue” mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.
{"title":"A Self-Rescue Mechanism for an In-Pipe Robot for Large Obstacle Negotiation in Water Distribution Systems","authors":"Saber Kazeminasab, Moein Razavi, Sajad Dehghani, Morteza Khosrotabar, M. Banks","doi":"10.1109/ICMERR54363.2021.9680831","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680831","url":null,"abstract":"Water distribution systems (WDS) carry potable water with millions of miles of pipelines and deliver purified water to residential areas. The incidents in the WDS cause leak and water loss, which imposes pressure gradient and public health crisis. Hence, utility managers need to assess the condition of pipelines periodically and localize the leak location (in case it is reported). In our previous works, we designed and developed a size-adaptable modular in-pipe robot [1] and controlled its motion in in-service WDS. However, due to the linearization of the dynamical equations of the robot, the stabilizer controller which is a linear quadratic regulator (LQR) cannot stabilize the large deviations of the stabilizing states due to the presence of obstacles that fails the robot during operation. To this aim, we design a “self-rescue” mechanism for the robot in which three auxiliary gear-motors retract and extend the arm modules with the designed controller towards a reliable motion in the negotiation of large obstacles and non-straight configurations. Simulation results show that the proposed mechanism along with the motion controller enables the robot to have an improved motion in pipelines.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"557 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124595391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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