Hybrid Power System Design for Autonomous Ground Robots
A Master of Science thesis in Mechatronics Engineering by Ali Qahtan Al-Tameemi entitled, “Hybrid Power System Design for Autonomous Ground Robots”, submitted in November 2018. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft and hard copy available.
محفوظ في:
| المؤلف الرئيسي: | |
|---|---|
| التنسيق: | doctoralThesis |
| منشور في: |
2018
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| الموضوعات: | |
| الوصول للمادة أونلاين: | http://hdl.handle.net/11073/16411 |
| الوسوم: |
إضافة وسم
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| _version_ | 1864513438038884352 |
|---|---|
| author | Al-Tameemi, Ali Qahtan |
| author_facet | Al-Tameemi, Ali Qahtan |
| author_role | author |
| dc.contributor.none.fl_str_mv | Mukhopadhyay, Shayok |
| dc.creator.none.fl_str_mv | Al-Tameemi, Ali Qahtan |
| dc.date.none.fl_str_mv | 2018-11 2019-03-19T05:46:56Z 2019-03-19T05:46:56Z |
| dc.format.none.fl_str_mv | application/pdf application/pdf |
| dc.identifier.none.fl_str_mv | 35.232-2018.42 http://hdl.handle.net/11073/16411 |
| dc.language.none.fl_str_mv | en_US |
| dc.subject.none.fl_str_mv | Generalized Predictive Control (GPC) Kalman filter (KF) Fast Fourier Transform (FFT) Artificial Neural Network (ANN) Autonomous robots Power supply Hybrid power systems |
| dc.title.none.fl_str_mv | Hybrid Power System Design for Autonomous Ground Robots |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/doctoralThesis |
| description | A Master of Science thesis in Mechatronics Engineering by Ali Qahtan Al-Tameemi entitled, “Hybrid Power System Design for Autonomous Ground Robots”, submitted in November 2018. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft and hard copy available. |
| format | doctoralThesis |
| id | aus_a5dfdd25e1cfaab2714e9a99206430c8 |
| identifier_str_mv | 35.232-2018.42 |
| language_invalid_str_mv | en_US |
| network_acronym_str | aus |
| network_name_str | aus |
| oai_identifier_str | oai:repository.aus.edu:11073/16411 |
| publishDate | 2018 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Hybrid Power System Design for Autonomous Ground RobotsAl-Tameemi, Ali QahtanGeneralized Predictive Control (GPC)Kalman filter (KF)Fast Fourier Transform (FFT)Artificial Neural Network (ANN)Autonomous robotsPower supplyHybrid power systemsA Master of Science thesis in Mechatronics Engineering by Ali Qahtan Al-Tameemi entitled, “Hybrid Power System Design for Autonomous Ground Robots”, submitted in November 2018. Thesis advisor is Dr. Shayok Mukhopadhyay. Soft and hard copy available.The interest in mobile robots has increased rapidly due to the complicated tasks a mobile robot can accomplish. An efficient robot power supply system can increase the robot range of travel. Different power management techniques have been applied heavily in the field of electric vehicles. Such techniques are helpful in terms of extending the robot driving range; power controller requires placing a DC converter that consists of power switches, inductors, and capacitors. In most cases, robots are still powered by a single battery. This observation inspired this work to develop an enhanced passive multi-source power system, using Generalized Predictive Control (GPC) and Kalman filtering (KF) to find the minimum power required to drive the robot along a predefined path. As a result, the designed power system extends robot driving range from 3 to 16 hours. Since batteries are a major component of any current hybrid energy system design, any good energy management system must incorporate an impending battery failure detection system, so that other energy sources can be switched on to replace a dying battery. This work proposes a battery voltage collapse detection technique based on Fast Fourier Transforms (FFTs) and artificial neural network (ANNs), where the robot driving range is extended more by 3 hours using a backup battery. This work aims to use two batteries, a supercapacitor, and a fuel cell based system to form a long-lasting hybrid energy system for a mobile robot.College of EngineeringMultidisciplinary ProgramsMaster of Science in Mechatronics Engineering (MSMTR)Mukhopadhyay, Shayok2019-03-19T05:46:56Z2019-03-19T05:46:56Z2018-11info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisapplication/pdfapplication/pdf35.232-2018.42http://hdl.handle.net/11073/16411en_USoai:repository.aus.edu:11073/164112025-06-26T12:29:09Z |
| spellingShingle | Hybrid Power System Design for Autonomous Ground Robots Al-Tameemi, Ali Qahtan Generalized Predictive Control (GPC) Kalman filter (KF) Fast Fourier Transform (FFT) Artificial Neural Network (ANN) Autonomous robots Power supply Hybrid power systems |
| status_str | publishedVersion |
| title | Hybrid Power System Design for Autonomous Ground Robots |
| title_full | Hybrid Power System Design for Autonomous Ground Robots |
| title_fullStr | Hybrid Power System Design for Autonomous Ground Robots |
| title_full_unstemmed | Hybrid Power System Design for Autonomous Ground Robots |
| title_short | Hybrid Power System Design for Autonomous Ground Robots |
| title_sort | Hybrid Power System Design for Autonomous Ground Robots |
| topic | Generalized Predictive Control (GPC) Kalman filter (KF) Fast Fourier Transform (FFT) Artificial Neural Network (ANN) Autonomous robots Power supply Hybrid power systems |
| url | http://hdl.handle.net/11073/16411 |