mel siegel. Лекция по энергетике для робототехники
Post on 18-Jan-2015
6.224 Views
Preview:
DESCRIPTION
TRANSCRIPT
20140301 <mws@cmu.edu> energy issues in robotics 1
Will Power and Energy IssuesPut the Brakes on the
Engine of Robotics Growth?
Mel SiegelCarnegie Mellon University
School of Computer ScienceThe Robotics Institute
Sensing, Sensors, & Control Lab Director
MS in Robotics Technology Program Director
20140301 <mws@cmu.edu> energy issues in robotics 2
historically: sensors & human interfaces
20140301 <mws@cmu.edu> energy issues in robotics 3
recently: energy & power issues ...
liquid fuelbatteries
The Energizer (batteries) Bunny
“He just keeps going!”
The Energizer (batteries) Bunny
But in truth the Bunny's original animatronics engineer (Grant Imahara) reports that it actuallyran less than 10 minutes ...
“He just keeps going?”
20140301 <mws@cmu.edu> energy issues in robotics 6
batteries vs. ice creamASIMO runs for about 30 minutes on a
7.7 kg battery mass (out of 52 kg total mass),so requires ~400 kg/day of fully-charged batteries
an excellent 7.7 kg battery might store ~4 Mj
so Asimo's power demand is ~2 kW
compare with human power demand ~0.1 kW
would be provided by ~400 g/day of ice cream
~400 gm/day for human | ~400 kg/day for robot
so it is no surprise BigDog runs on liquid fuel!
20140301 <mws@cmu.edu> energy issues in robotics 7
what to measure / what to calculatescaling rules for geometrically similar vehicles: vehicle's characteristic linear dimension = h then on-board energy storage capacity ~h^3 baseline power requirement = P running time (T) on stored energy ~h3/P range (R) on stored energy ~h3v/P (v = speed) if P is mostly frictional loss to air or water then
P ~h2v, so T ~h/v, so R~h– which is why we use a few big
boats/airplanesvs. many small ones to travel long distances
(and similarly for any baseline power model)
20140301 <mws@cmu.edu> energy issues in robotics 8
partial conclusion - energy storage batteries are terrible compared to liquid fuels this problem is not unique to robotics:
– cell phones, electric cars, etc, are all battery-limited
potential ultimate solutions:– renewable electrodes?– fuel cells?– solutions that avoid storage:
• wireless transmission (while in motion)?• foraging for energy (in the environment)?
we're not green, but this isn't yet a barrier robotics can “ride the wave” of progress driven
by transportation & communication demands
also: energy from transient power sourcessunny?
cloudy?
solar panel
SCIENCE
ENGINEERING
INTELLIGENCE
20140301 <mws@cmu.edu> energy issues in robotics 10
what is the problem? some system ... mobile robot? bus? boat? ...
collects solar energy for immediate tasks and stores solar energy for future tasks
some requirements are discretionary ... do them now or do them later use an optimal mix of incoming & stored
energy the optimal strategy now depends on the energy
you predict you will collect later ! predictions can be based on a mixture of locally
collected data and downloaded weather data
“solar” and “weather” are convenient concrete examples, but same thinking applies globally
20140301 <mws@cmu.edu> energy issues in robotics 11
what are the questions? given weather forecasts today, can we predict
the energy we will be able to gather tomorrow? given our own local measurements of
insolation, other weather variables, sky temperature, etc, can we predict the energy we will be able to gather tomorrow?
what is the optimal approach to fusion of these multiple data sources?
plus some secondary technology issues, e.g., tracking the maximum power point of sources (like solar cells) with “interesting” V-I properties
20140301 <mws@cmu.edu> energy issues in robotics 12
partial conclusion - transient power it is mostly an information technology domain! hardware is generally well-developed
software to coordinate hardware components isn't
this is not a threat for robotics it is rather an opportunity for us to spin-off the
IT, AI, and communication technology advances in our smaller robotics context into the larger contexts of transient power availability and consequent energy storage requirements
even on regional, national, and international scales
20140301 <mws@cmu.edu> energy issues in robotics 13
overall conclusion ...Will Power and Energy Issues Put the Brakes on the Engine of Robotics Growth? at first it seems like yes:
– we talk about “bio-inspired” robots, but our energy storage media are far inferior to life forms'• the fix seems to be to gather energy locally• but management of transient sources may be
harder than path planning, etc, in robotics nevertheless, taking a closer look:
– energy storage is a crucial issue in fields much larger than robotics, so we can ride their wave
– transient power management is similar to optimization problems in robotics, so we can spin-off our progress into broader contexts
20140301 <mws@cmu.edu> energy issues in robotics 14
overall conclusion ...Will Power and Energy Issues Put the Brakes on the Engine of Robotics Growth? at first it seems like yes:
– we talk about “bio-inspired” robots, but our energy storage media are far inferior to life forms'• the fix seems to be to gather energy locally• but management of transient sources may be
harder than path planning, etc, in robotics nevertheless, taking a closer look:
– energy storage is a crucial issue in fields much larger than robotics, so we can ride their wave
– transient power management is similar to optimization problems in robotics, so we can spin-off our progress into broader contexts
20140301 <mws@cmu.edu> energy issues in robotics 15
Another Topic - Briefly!
20140301 <mws@cmu.edu> energy issues in robotics 16
companies recently bought by Google(Wikipedia says “more than one/week since 2010”!)
DeepMind AI Nest home automation Boston Dynamics walking robots Bot & Dolly robot cameras Holumni robot wheels Meka Robots people-oriented robots Redwood Robotics robot arms Industrial Perception computer vision Schaft humanoid robots Flutter gesture recognition Makani Power airborne wind turbines
20140301 <mws@cmu.edu> energy issues in robotics 17
Albert Efimov asked this question:How will Google's purchase of ~10 robot/robotics companies affect the rates & directions of research, development, & adoption of robots/robotic systems?
20140301 <mws@cmu.edu> energy issues in robotics 18
Albert Efimov asked this question:How will Google's purchase of ~10 robot/robotics companies affect the rates & directions of research, development, & adoption of robots/robotic systems?
Mel Siegel gave this answer:The lion's share of robotics funding -- government and industry -- chases requirements articulated by the military sector; Google's fusion of many unique areas of expertise -- until now held by many small players -- and the funding that will now allow them to pursue their own dreams -- will trigger a huge explosion of products that will live or die according to their fitness to survive in the popular -- not just the military -- market.
20140301 <mws@cmu.edu> energy issues in robotics 19
Is this a topic for future panel discussion?
20140301 <mws@cmu.edu> energy issues in robotics 20
20140301 <mws@cmu.edu> energy issues in robotics 21
Будут ли проблемас питанием и энергией затормаживать темнироста роботтехники?
Will Power and Energy IssuesPut the Brakes on the
Engine of Robotics Growth?
20140301 <mws@cmu.edu> energy issues in robotics 22
Will there be a problem with the power and energy inhibit growth
robottehniki dark?
Будут ли проблемас питанием и энергией затормаживать темнироста роботтехники?
top related