130 nm low power CMOS analog multiplier

Processing analog signal often involves analog multiplier and the multiplier is part of system on chip (SoC). Designing such system with a low power consumption is crucial nowadays. It is very important to increase the system battery lifetime. The design also must be smaller in size. In order to reduce the power consumption of the multiplier, an architecture that require smaller current must be designed and the approach is to use a design that is able to function at a low voltage supply. This project has designed the analog multiplier with a low power consumption using Silterra 130 nm Complementary Metal Oxide Semiconductor (CMOS) technology. A four quadrant technique is applied in the design. The scaling of transistor will help in reducing the size of the analog multiplier, and the proposed circuit architecture has produced a compact multiplier. Cadence electronic design automation (EDA) Tools is used to design the circuit. The schematic, layout, physical verification and parasitic extraction with post layout simulation are done to verify the multiplier circuit is functioning. The analog multiplier is operated with 1.2 V voltage supply and the power consumption is 98 μW. At 1 V, the power consumption is 32 μW. The total area for the design is 99 μm²

Velocity profile compliance for a wheeled mobile robot

Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning. Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy available from the batteries. With great advancements in application of Wheeled Mobile Robots (WMRs), concern of energy grew. Most of (not all) research and work done on the field of robotics is developed with no relation to ‘life’ of the robot. Specially, mobile robots use batteries to power themselves. So, the ‘lifespan’ of these robots is limited. So, the investigations on energy-related concepts are also of great importance. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates energy efficiency for trapezoidal velocity profile to minimize a new energy object function which considers practical energy consumption dissipated in motors related to motor dynamics, velocity profile, and motor control input. This paper will perform the analyses on energy consumption for trapezoidal velocity profile by using the Pulse Width Modulation (PWM) method as the controller. The goals of this project are by getting the energy optimization and the best velocity profile generation. Through the project, it can be concluded that the main factors in energy optimization based on the velocity profile generation are the election of PWM duty cycle and the time to complete the task. The higher the duty cycle of PWM and the shorter time we gain to complete the task will be result more energy saving in battery consumption. The velocity Profile 3 is chosen as the best velocity profile compared to Profile 1 and Profile 2 in terms of energy efficiency consumption which it gives us 2.48% and 1.95% differences between Profile 1 and Profile 2 respectively

Energy Consumption Minimization for Autonomous Mobile Robot: A Convex Approximation Approach

In this paper, we consider a trajectory design problem of an autonomous mobile robot working in industrial environments. In particular, we formulate an optimization problem that jointly determines the trajectory of the robot and the time step duration to minimize the energy consumption without obstacle collisions. We consider both static and moving obstacles scenarios. The optimization problems are nonconvex, and the main contribution of this work proposing successive convex approximation (SCA) algorithms to solve the nonconvex problems with the presence of both static and moving obstacles. In particular, we first consider the optimization problem in the scenario with static obstacles and then consider the optimization problem in the scenario with static and moving obstacles. Then, we propose two SCA algorithms to solve the nonconvex optimization problems in both the scenarios. Simulation results clearly show that the proposed algorithms outperform the A* algorithm, in terms of energy consumption. This shows the effectiveness of the proposed algorithms

Optimal trajectory tracking control for a wheeled mobile robot using backstepping technique

This work studies an optimal trajectory tracking of a wheeled mobile robot with the objective of minimizing energy consumption. First, the mathematical model, which takes into account the kinematic model of the mobile robot and the dynamic model of the actuators is presented. Then, a backstepping controller is designed and its parameters are tuned to satisfy several strict criteria such as rapid convergence, matching desired trajectory, and minimizing energy. For that, two cost functions were investigated and the best one has been selected. The significant reduction in energy losses achieved for all the proposed motion scenarios proves the effectiveness of our approach

Finding energy-efficient paths on uneven terrains

2014-2015 > Academic research: refereed > Refereed conference paperAccepted ManuscriptPublishe

Intelligent Navigation Service Robot Working in a Flexible and Dynamic Environment

Numerous sensor fusion techniques have been reported in the literature for a number of robotics applications. These techniques involved the use of different sensors in different configurations. However, in the case of food driving, the possibility of the implementation has been overlooked. In restaurants and food delivery spots, enhancing the food transfer to the correct table is neatly required, without running into other robots or diners or toppling over. In this project, a particular algorithm module has been proposed and implemented to enhance the robot driving methodology and maximize robot functionality, accuracy, and the food transfer experience. The emphasis has been on enhancing movement accuracy to reach the targeted table from the start to the end. Four major elements have been designed to complete this project, including mechanical, electrical, electronics, and programming. Since the floor condition greatly affecting the wheels and turning angle selection, the movement accuracy was improved during the project. The robot was successfully able to receive the command from the restaurant and go to deliver the food to the customers\u27 tables, considering any obstacles on the way to avoid. The robot has equipped with two trays to mount the food with well-configured voices to welcome and greet the customer. The performance has been evaluated and undertaken using a routine robot movement tests. As part of this study, the designed service wheeled robot required to be with a high-performance real-time processor. As long as the processor was adequate, the experimental results showed a highly effective search robot methodology. Having concluded from the study that a minimum number of sensors are needed if they are placed appropriately and used effectively on a robot\u27s body, as navigation could be performed by using a small set of sensors. The Arduino Due has been used to provide a real-time operating system. It has provided a very successful data processing and transfer throughout any regular operation. Furthermore, an easy-to-use application has been developed to improve the user experience, so that the operator can interact directly with the robot via a special setting screen. It is possible, using this feature, to modify advanced settings such as voice commands or IP address without having to return back to the code

A review on energy efficiency in autonomous mobile robots

Purpose: This paper aims to provide a comprehensive analysis of the state of the art in energy efficiency for autonomous mobile robots (AMRs), focusing on energy sources, consumption models, energy-efficient locomotion, hardware energy consumption, optimization in path planning and scheduling methods, and to suggest future research directions. Design/methodology/approach: The systematic literature review (SLR) identified 244 papers for analysis. Research articles published from 2010 onwards were searched in databases including Google Scholar, ScienceDirect and Scopus using keywords and search criteria related to energy and power management in various robotic systems. Findings: The review highlights the following key findings: batteries are the primary energy source for AMRs, with advances in battery management systems enhancing efficiency; hybrid models offer superior accuracy and robustness; locomotion contributes over 50% of a mobile robot’s total energy consumption, emphasizing the need for optimized control methods; factors such as the center of mass impact AMR energy consumption; path planning algorithms and scheduling methods are essential for energy optimization, with algorithm choice depending on specific requirements and constraints. Research limitations/implications: The review concentrates on wheeled robots, excluding walking ones. Future work should improve consumption models, explore optimization methods, examine artificial intelligence/machine learning roles and assess energy efficiency trade-offs. Originality/value: This paper provides a comprehensive analysis of energy efficiency in AMRs, highlighting the key findings from the SLR and suggests future research directions for further advancements in this field