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Amelioration of Energy Dissipation Through Robotic Evacuation Process of Solid Bulk Materials: Effectiveness of Wheel Slip Control System

  • Research Article-Mechanical Engineering
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Abstract

Robotic evacuation process is commonly performed for confined spaces such as reactors and process towers of chemical, petrochemical, oil, and gas industries. This study deals with an applied research for amelioration of energy dissipation through robotic evacuation process of hazardous bulk materials with possibility of explosion as well as combustion inside industrial confined spaces. As a source of energy dissipation in the process was longitudinal slip of mobile robot wheels, a wheel slip control system was developed for the robot. The system was designed based on control algorithm of proportional integral and control strategy of increasing torque and speed of wheels. Effectiveness of the system for different levels of robot forward speed (0.5, 0.33 and 0.17 m/s) and tire air pressure (55.16, 34.47 and 20.68 kPa) was practically assessed through robotic trials on various solid ball diameters (0.0508, 0.0254 and 0.0127 m). Results obtained from the trials elucidated that employment of the wheel slip control system led to noteworthy amelioration of energy dissipation from range of 132.81–774.62 to 85.73–492.80 J/m2. It discloses that energy dissipation reduced 19.57–57.50%. Magnitude of energy dissipation reduction related to positive effect of causative factors (robot forward speed, tire air pressure, and solid ball diameter) on the slip of robot wheels. Among the causative factors, solid ball diameter had the greatest effect on magnitude of energy dissipation reduction. Overall, outcome of this research is helpful for energy dissipation management through robotic evacuation process of solid bulk materials.

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Abbreviations

CV:

Coefficient of variation (%)

CNU:

Coefficient of non-uniformity (%)

DCT:

Data collection time (s)

ED:

Energy dissipation (J/m2)

EDRi :

ith energy dissipation reduction (J/m2)

EDRmax :

Maximum energy dissipation reduction (J/m2)

EDRmin :

Minimum energy dissipation reduction (J/m2)

EPN:

Encoder pulse number for one wheel revolution

EPNfw :

Encoder pulse number of fifth wheel

EPNrw :

Encoder pulse number of robot wheel

GTFiw :

Gross traction force of ith wheel (N)

LSw :

Longitudinal slip of wheel (%)

LSiw :

Longitudinal slip of ith wheel (%)

M:

Mean of used data (J/m2)

N:

Number of data

PD:

Power dissipation (W)

RDfw :

Rolling diameter of fifth wheel (m)

RDrw :

Rolling diameter of robot wheel (m)

RFS:

Robot forward speed (m/s)

RW:

Robot width (m)

SD:

Standard deviation (J/m2)

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Acknowledgements

The authors would like to appreciate Zagros Sanat Arka Company for provision of technical and financial supports under grant number of 99-7957154 (2021-2022).

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Authors and Affiliations

  1. Department of Mechanical Engineering of Biosystems, Faculty of Agricultural Engineering and Technology, College of Agriculture and Natural Resources, University of Tehran, Karaj, 31587-77871, Iran

    S. M. Shafaei & H. Mousazadeh

  2. Research and Development (R&D) Unit, Zagros Sanat Arka Company, Tehran, 13938-44156, Iran

    S. M. Shafaei

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Correspondence to H. Mousazadeh.

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Shafaei, S.M., Mousazadeh, H. Amelioration of Energy Dissipation Through Robotic Evacuation Process of Solid Bulk Materials: Effectiveness of Wheel Slip Control System. Arab J Sci Eng 48, 11237–11250 (2023). https://doi.org/10.1007/s13369-022-07371-7

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