Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot
As autonomous tiling devices begin to perform floor cleaning, agriculture harvesting, surface painting tasks, with minimal or no human intervention, a new challenge arises: these devices also need to be energy efficient and be constantly aware of the energy expenditure during deployments. Typical ap...
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doaj-5ae37c7ef83b41618647d51a9f0311602020-11-25T00:56:40ZengMDPI AGEnergies1996-10732019-06-011212225710.3390/en12122257en12122257Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling RobotArunmozhi Manimuthu0Anh Vu Le1Rajesh Elara Mohan2Prabahar Veerajagadeshwar3Nguyen Huu Khanh Nhan4Ku Ping Cheng5ROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeOptoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, VietnamROAR Lab, Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, SingaporeAs autonomous tiling devices begin to perform floor cleaning, agriculture harvesting, surface painting tasks, with minimal or no human intervention, a new challenge arises: these devices also need to be energy efficient and be constantly aware of the energy expenditure during deployments. Typical approaches to this end are often limited to fixed morphology robots with little or no consideration for reconfiguring class of robots. The main contribution of the paper is an energy estimation scheme that allows estimating the energy consumption when a tetromino inspired reconfigurable floor tiling robot, hTetro moves from one configuration to another for completing the area covering task. To this end, the proposed model applying the Newton-Raphson algorithm in combination with Pulse width modulation (PWM)-H bridge to characterize the energy cost associated with locomotion gaits across all valid morphologies and identify optimal area coverage strategy among available options is presented. We validate our proposed approach using an 8’ × 8’ square testbed where there exist 12 possible solutions for complete area coverage however with varying levels of energy cost. Then, we implemented our approach to our hTetro platform and conducted experiments in a real-life environment. Experimental results demonstrate the application of our model in identifying the optimal area coverage strategy that has the least associated energy cost.https://www.mdpi.com/1996-1073/12/12/2257tiling roboticsreconfigurable systemenergy savingarea coveragereconfigurable mechanism |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Arunmozhi Manimuthu Anh Vu Le Rajesh Elara Mohan Prabahar Veerajagadeshwar Nguyen Huu Khanh Nhan Ku Ping Cheng |
spellingShingle |
Arunmozhi Manimuthu Anh Vu Le Rajesh Elara Mohan Prabahar Veerajagadeshwar Nguyen Huu Khanh Nhan Ku Ping Cheng Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot Energies tiling robotics reconfigurable system energy saving area coverage reconfigurable mechanism |
author_facet |
Arunmozhi Manimuthu Anh Vu Le Rajesh Elara Mohan Prabahar Veerajagadeshwar Nguyen Huu Khanh Nhan Ku Ping Cheng |
author_sort |
Arunmozhi Manimuthu |
title |
Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot |
title_short |
Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot |
title_full |
Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot |
title_fullStr |
Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot |
title_full_unstemmed |
Energy Consumption Estimation Model for Complete Coverage of a Tetromino Inspired Reconfigurable Surface Tiling Robot |
title_sort |
energy consumption estimation model for complete coverage of a tetromino inspired reconfigurable surface tiling robot |
publisher |
MDPI AG |
series |
Energies |
issn |
1996-1073 |
publishDate |
2019-06-01 |
description |
As autonomous tiling devices begin to perform floor cleaning, agriculture harvesting, surface painting tasks, with minimal or no human intervention, a new challenge arises: these devices also need to be energy efficient and be constantly aware of the energy expenditure during deployments. Typical approaches to this end are often limited to fixed morphology robots with little or no consideration for reconfiguring class of robots. The main contribution of the paper is an energy estimation scheme that allows estimating the energy consumption when a tetromino inspired reconfigurable floor tiling robot, hTetro moves from one configuration to another for completing the area covering task. To this end, the proposed model applying the Newton-Raphson algorithm in combination with Pulse width modulation (PWM)-H bridge to characterize the energy cost associated with locomotion gaits across all valid morphologies and identify optimal area coverage strategy among available options is presented. We validate our proposed approach using an 8’ × 8’ square testbed where there exist 12 possible solutions for complete area coverage however with varying levels of energy cost. Then, we implemented our approach to our hTetro platform and conducted experiments in a real-life environment. Experimental results demonstrate the application of our model in identifying the optimal area coverage strategy that has the least associated energy cost. |
topic |
tiling robotics reconfigurable system energy saving area coverage reconfigurable mechanism |
url |
https://www.mdpi.com/1996-1073/12/12/2257 |
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