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

Collaboration entre les robots intelligents et les objets connectés, opportunités et défis

L’émergence des objets connectés à travers le monde ouvre de nouveaux horizons pour les robots mobiles intelligents, nous essayons dans ce travail de modéliser une macro architecture qui étend les capacités des robots : d’un côté à travers la communication avec leur environnement extérieur, en adoptant les paradigmes Multi-agents et Internet of Things (IoT) ; d’un autre côté en développant une Intelligence artificielle (IA) distribuée collaborative par le biais du paradigme Clou

Energy Estimation Based on Path Tracking for a Differential Drive Wheeled Mobile Robot

To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption

Embedded Generation Using Shared Solar

The socio-economic development of a country (especially a developing one) is inextricably linked with the availability and affordability of electricity in that country. However most African countries have failed to bridge the gap between the demand and supply of electricity in their country owing either to the non-availability of power or the lack of synergy between the various disciplines that make up the power sector. Bedevilled with the current Covid-19 pandemic which ushers in the digital era of E-learning and virtual trade activities, Africa cannot afford to lag behind as a result of poor electricity supply. Our case study in this paper will be Africa’s most populous country; Nigeria. We would look at the aged long practice of a centralized system of energy production which generates and transmits electricity over long distances (thereby incurring colossal losses), the limitations of the National grid which covers only some parts of the country, the legal constraints, the resort to self-help by Nigerians who seek to produce their own electricity using generators that emit GHG which pollute the atmosphere and the economic implication of running generators, while proffering an eco-friendly solution in distributed or dispersed generation using Shared Solar Energy aimed at resolving the disparity between the demand and supply of Electricity. A solution which will invariably unlock economic growth especially during this Covid-19 pandemic

Simulation and design of an energy accumulator around the hydrogen energy vector

This work demonstrates the study of the numerical modelling and a design of a compact energy generator based on green hydrogen. This generator aims allowing the energy storage, electricity, cold and heat productions as well as a supply the energy for the production of the sanitary hot water. The generator is considered to be powered by 30 solar cells panels and will mainly consist of a Proton Exchange Membrane (PEM) electrolyzer compiled with a Metal Hydride (MH) tank, a PEM fuel cell, and a system of heat exchangers sized to recover the heat from the electrolyzer, PEM fuel cell and MH tank. Furthermore, the generator will contain an adsorber to manage air conditioning (cooling and heating) and a production of the sanitary hot water. A converter block is included in the generator, in particular, a Buck-booster to raise the voltage of the solar panels and the DC-AC converter for the electricity consumption in the household. The desorption of the hydrogen contained in the tank MH will take place using the heating resistance. In overall, the designed generator is foreseen to have a dimension of 1800 × 1000 × 500 mm and its role is to allow integration of the hydrogen energy for the tertiary and residential sectors. As such it is a suitable choice of components for the cost reduction and high yield hydrogen production, storage, and consumption

Mathematical modeling of re-electrification by green hydrogen storage through the PEM fuel cell integrating a 10-year economic study applied to a hotel

The energy transition to prevent global warming is the main concern. Climatic change effects show a catastrophic view to the word through the increase of temperature which promotes fire like in Siberia or ices melts by trigging the extinction of polar bears in the future, also adding the flooding in Norway. Thus, it is important to trait sectors the most polluters such as transport, industries, and residential tertiary sectors. In the perspective to reduce their dependence on fossil fuels. However, the frequently used sources of energy are unstable. They require an appropriate clean storage system and the technology of energy storage relevant as green hydrogen. In this article, we focus first on the creation complete of the model of production chain for green hydrogen by the fuel cell PEM. Then, the application of the model in one technical-economic study for energetic consumption HVAC for a hotel. We will consider the usage of thermic power resulting from the chemical reaction of the system, those powers allow us to demonstrate that the fuel cell PEM presents the brilliant performance compare to electrolysis. Through that thermic power from the fuel cells, we will expose the fact it is possible to avoid the utilization of natural gas and electricity structure for domestic hot water. This technical-economic study show that green hydrogen technology can be worthwhile for the short or middle term for the hotel industry

Study on performance of a green hydrogen production system integrated with the thermally activated cooling

The energy transition is at the centre of research and development activities with the aim to fight against the effects of global warming. Today, renewable energies play a significant role in the electricity supply to the World and their use increases day after day. Because of the intermittency of a large-scale production system generates the need to develop clean energy storage systems. Hence, energy storage systems play is one of key elements in the energy transition. In this perspective, a green hydrogen is defined as an energy carrier thanks to its high energy density in relation to its negligible mass, not to mention its abundance in our environment, and its extraction, which does not contribute to any greenhouse gases. However, the production cost is not negligible. Hence, this work shows a numerical modelling of the heat balance from a green hydrogen production system using a thermal storage in a Metal Hydride (MH) tank for an electrification by Proton Exchange Membrane (PEM) fuel cell integrated into the production of heating, cooling and sanitary hot water (SHW) through the recovery of the heat released by the whole system combined with the technology of thermally activated cooling of an adsorber. This allows demonstrating that the green hydrogen can be an interesting solution according in the hydrogen production chain and in the tertiary sectors