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Title: Energy Efficient Mobile Systems: A Legged Robot Case Study.

Abstract

Abstract not provided.

Authors:
; ; ;
Publication Date:
Research Org.:
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Sponsoring Org.:
Defense Advanced Research Projects Agency (DARPA)
OSTI Identifier:
1390758
Report Number(s):
SAND2016-8889PE
647270
DOE Contract Number:
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: Proposed for presentation at the Sandia Post-Doctoral/Recent Staff Seminar (PReSS) held September 29, 2016 in Albuquerque, NM.
Country of Publication:
United States
Language:
English

Citation Formats

Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton G., and Buerger, Stephen. Energy Efficient Mobile Systems: A Legged Robot Case Study.. United States: N. p., 2016. Web.
Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton G., & Buerger, Stephen. Energy Efficient Mobile Systems: A Legged Robot Case Study.. United States.
Mazumdar, Anirban, Spencer, Steven James, Hobart, Clinton G., and Buerger, Stephen. 2016. "Energy Efficient Mobile Systems: A Legged Robot Case Study.". United States. doi:. https://www.osti.gov/servlets/purl/1390758.
@article{osti_1390758,
title = {Energy Efficient Mobile Systems: A Legged Robot Case Study.},
author = {Mazumdar, Anirban and Spencer, Steven James and Hobart, Clinton G. and Buerger, Stephen},
abstractNote = {Abstract not provided.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = 2016,
month = 9
}

Conference:
Other availability
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  • Abstract not provided.
  • Robotic systems (and in particular mobile autonomous agents) embody a complex interaction of computational processes, mechanical systems, sensors, and communications hardware. System integration can present significant difficulties to the construction of a real system, because the hardware is often built around convenience of design rather than convenience of system integration. Nonetheless, in order for robots to perform real-world tasks such as navigation, localization and exploration, the different subsystems of motion, sensing and computation must be merged into a single, realisable unit. Our group is investigating particular problems in the domain of computational perception, in the context of mobile robotics. Inmore » particular, we are concerned with environment exploration, position estimation, and map construction. We have several mobile platforms integrating different sensing modalities, which we are able to control simultaneously from a single source.« less
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  • Hazardous operations which involve the dextrous manipulation of dangerous materials in the field have, in the past, been completed by technicians. Use of humans in such hazardous operations is under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. Remote systems are needed to accomplish many tasks such as the clean up of waste sites in which the exposure of personnel to radiation, chemical, explosive, and other hazardous constituents is unacceptable. Traditional remote manual field operations have, unfortunately, proven to have very low productivity when compared with unencumbered human operators. Recent advances inmore » the integration of wars and computing into the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer remote systems. This paper discusses applications of such advances to remote field operations.« less
  • Energy Management Control Systems (EMCSs) have been used in many projects as a monitoring device to provide information necessary for estimating savings from efficiency measures. This paper discusses a case study that looked in great depth at that use for evaluating savings in Energy Savings Performance Contracting (ESPC). ESPC is one of the increasingly important mechanisms for profiting from energy efficiency in commercial buildings. With ESPC, a contractor finances and installs energy-conversion measures, and the resulting savings in energy bills are shared between the contractor and the building owner. Hence, the method used for determining savings is key to themore » success of this financing scheme. As a part of their effort to establish measurement and verification methods, the Federal Energy Management Program (FEMP) carried out a pilot study of ESPC, and the EMCS was used in the savings verification for this ESPC contract. This case study also serves as a detailed and quantitative comparison of EMCS and conventional monitoring techniques, according to the guidelines developed in earlier work. This paper discusses the concept of different levels of monitoring savings for ESPC and presents an assessment of the use of EMCS for these levels of monitoring.« less