Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Iqbal, Jamshed; Al-Zahrani, Abdulrahim A.; Alharbi, Soltan Abed; Hashmi, Anas

doi:10.1109/access.2019.2957013

Cited by 16 publications

(9 citation statements)

References 185 publications

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“…Aerial inspection with drones offer high mobility and diversified sensing capability, however, they are limited by payload, flight envelope and mission endurance [37]. The latest advancements include multi-directional aerial platforms that can fly in almost any orientation and direction [38].…”

Section: ) Unmanned Aerial Vehicles (Uav)mentioning

confidence: 99%

“…Inspection using aerial vehicles is now gaining high levels of attention in the commercial and scientific community [41]. Due to their high mobility and diversified sensing capability, the aerial vehicles can inspect structures rapidly but are limited by payload, flight envelope and mission endurance.…”

Section: ) Aerial Vehiclesmentioning

confidence: 99%

“…Inspection [36], [39], [40] Crawling/ Railed Maintenance [37], [38] AUV Inspection/Maintenance [46] UAV Inspection [41], [42] Multi-robot Inspection/Maintenance [43], [44] Table 2. Description of failure modes on wind turbine blades [11].…”

Section: Crawling/ Railedmentioning

confidence: 99%

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Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

Mitchell¹,

Blanche

Zaki

et al. 2021

IEEE Access

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To reduce Operation and Maintenance (O&M) expenditure on offshore wind farms, wherein 80% of the cost relates to deploying personnel, the offshore wind sector looks to advances in Robotics and Artificial Intelligence (RAI) for solutions. Barriers to residential Beyond Visual Line of Sight (BVLOS) autonomy as a service, include operational challenges in run-time safety compliance, reliability and resilience, due to the complexities of dealing with known and unknown risk in dynamic environments. In this paper we incorporate a Symbiotic System Of Systems Approach (SSOSA) that uses a Symbiotic Digital Architecture (SDA) to provide a cyber physical orchestration of enabling technologies. Implementing a SSOSA enables Cooperation, Collaboration and Corroboration (C 3 ), as to address run-time verification of safety, reliability and resilience during autonomous missions. Our SDA provides a means to synchronize distributed digital models of the robot, environment and infrastructure. Through the coordinated bidirectional communication network of the SDA, the remote human operator has improved visibility and understanding of the mission profile. We evaluate our SSOSA in an asset inspection mission within a confined operating environment. Demonstrating the ability of our SSOSA to overcome safety, reliability and resilience challenges. The SDA supports lifecycle learning and co-evolution with knowledge sharing across the interconnected systems. Our results evaluate both sudden and gradual faults, as well as unknown events, that may jeopardize an autonomous mission. Using distributed and coordinated decision making, SSOSA enhances the analysis of the mission status, which includes diagnostics of critical sub-systems within the resident robot. This evaluation demonstrates that the SSOSA provides enhanced run-time operational resilience and safety compliance to BVLOS autonomous missions. SSOSA has the potential to be a highly transferable methodology to other mission scenarios and technologies, providing a pathway to implementing scalable autonomy as a service.

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Section: ) Unmanned Aerial Vehicles (Uav)mentioning

confidence: 99%

Section: ) Aerial Vehiclesmentioning

confidence: 99%

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Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

Mitchell¹,

Blanche

Zaki

et al. 2021

IEEE Access

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“…Current research in robotics is focused on devising novel solutions for a variety of control problems [ 1 ] such as executing motion in deformable and uneven spaces, gripping delicate and fragile objects, performing efficient supervisory control for swarm robots etc. These tasks become critically important in the context of human-robot interaction [ 2 ].…”

Section: Introductionmentioning

confidence: 99%

Performance comparison of structured H ∞ based looptune and LQR for a 4-DOF robotic manipulator

Asghar¹,

Iqbal

Khaliq

et al. 2022

PLoS ONE

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We explore looptune, a MATLAB-based structured H ∞ synthesis technique in the context of robotics. Position control of a 4 Degree of Freedom (DOF) serial robotic manipulator developed using Simulink is the problem under consideration. Three full state feedback control systems were developed, analyzed and compared for both steady-state and transient performance using the Linear Quadratic Regulator (LQR) and looptune. Initially, a single gain feedback controller was synthesized using LQR. This system was then modified by augmenting the state feedback controller with Proportional Integral (PI) and Integral regulators, thereby creating a second and third control system respectively. In both the second and third control systems, the LQR synthesized gain and additional gains were further tuned using looptune to achieve improvement in performance. The second and third systems were also compared in terms of tracking a time-dependent trajectory. Finally, the LQR and looptune synthesized controllers were tested for robustness by simultaneously increasing the mass of each manipulator link. In comparison to LQR, the second system consisting of Single Input Single Output (SISO) PI controllers and the state feedback matrix succeeded in meeting the control objectives in terms of performance, optimality, trajectory tracking, and robustness. The third system did not improve performance in contrast to LQR, but still showed robustness under mass variation. In conclusion, our results have shown looptune to have a comparatively better performance over LQR thereby highlighting its promising potential for future emerging control system applications.

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“…With the development of robotic technology stepping into the new era of automation and remote tasking, the implementation of robotic arm towards being the complex. Robotic arms are now intended for rehabilitation [8], renewable energy [9], and motion assistance [10]. Being a most effective member of an industry the robotic arms are intensively used in the food industry [11] and other industrial manipulation [12] tasks.…”

Section: Introductionmentioning

confidence: 99%

Modeling and development of a five DoF vision based remote operated robotic arm with transmission control protocol

Fahim

Sarker

2020

SN Appl. Sci.

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This paper depicts a remote vision-based manual motion control of five degrees of freedom (DoF) articulated industrial robotic arm intended for teleoperation. Remotely operated robot arms are now involved in handling heavy loads, detrimental materials or to explore uninhabitable spaces. In this light, a robotic system is developed in this paper to administrate this manipulation tasks from a distance in order to improve job safety and to alleviate the function of professionals. The proposed system carries a modular mechanical design for simplifying the function and maximizing the performance of the robot arm. The kinematic design of the 5 DOF robotic arm is carried out first to develop a sophisticated model that reflects the motion in the real world. The verification of the kinematic model is performed by observing the output response obtained from the simulation study. The robotic system considered in this study is a fixed base robotic system where the position of the robotic manipulator is determined by the operator. Before conveying the developed system to the real world, the computer-aided design is accomplished. Thereafter, the Live camera feeds are taken by a wide-angle camera, and the data bits are transmitted to a base station. A human operator then manipulates the robot arm using a controller according to the received camera feeds. An IEEE 802.11 standard communication technique is adopted to establish a three-way communication path. The paper presents the mechanical design along with the kinematic analysis, simulation studies and its application to real world explicates the comprehensive control over its performance.

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Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Cited by 16 publications

References 185 publications

Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

Symbiotic System of Systems Design for Safe and Resilient Autonomous Robotics in Offshore Wind Farms

Performance comparison of structured H ∞ based looptune and LQR for a 4-DOF robotic manipulator

Modeling and development of a five DoF vision based remote operated robotic arm with transmission control protocol

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