The present work investigates the techno-economic solution that can address the problem of rural electrification. To maintain a continuous power supply to this village area, a grid-connected microgrid system was desig...
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The present work investigates the techno-economic solution that can address the problem of rural electrification. To maintain a continuous power supply to this village area, a grid-connected microgrid system was designed that consists of solar photovoltaic (SPV) and battery energy storage systems (BESS). The recently introduced multi-strategy fusion artificial bee colony (MFABC) algorithm was hybridized with the simulated annealing approach and is referred to as the MFABC+ algorithm. This was employed to determine the optimal sizing of different components comprising the integrated system as well as to maximize the techno-economic objectives. For validation, the simulation results obtained by the MFABC+ algorithm are compared with the results obtained using HOMER software, the particle swarm optimizationalgorithms and the original MFABC algorithm. It was revealed that the MFABC+ algorithm has a better convergence rate and the potential ability to provide compromising results in comparison to these existing optimization tools. It was also discovered through the comprehensive evaluation that the proposed system has the potential capability to meet the electricity demand of the village for 24 x 7 at the lowest levelized cost of electricity.
This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspiredoptimization alg...
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This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. The proposed approach can be especially useful when moving items that are delicate or contain a liquid in an open container using a robotic arm. The goal of the optimization is to obtain the shortest execution time of the production cycle, taking into account the velocity, velocity and jerk limits, and the derivative continuity of the final trajectory. For this purpose, the velocity profiling algorithm for B-spline paths is proposed. The methodology has been applied to the production cycle optimization of the pick-and-place process using a collaborative robot. In comparison with point-to-point movement and the solution provided by the RRT* algorithm with the same velocity profiling to ensure the same motion limitations, the proposed path planning algorithm decreased the entire production cycle time by 11.28% and 57.5%, respectively. The obtained results have been examined in a simulation with the entire production cycle visualization. Moreover, the smoothness of the movement of the robotic arm has been validated experimentally using a robotic arm.
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