Search

Your search keyword '"Palanki, Srinivas"' showing total 186 results
Start Over Author "Palanki, Srinivas"
186 results on '"Palanki, Srinivas"'

1. Design, Modeling, and Control of Norma: a Slider & Pendulum-Driven Spherical Robot

Author

Moazami, Saeed, Naddaf-Sh, M-Mahdi, Palanki, Srinivas, and Zargarzadeh, Hassan

Subjects
Computer Science - Robotics
Abstract

This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal shaft. The slider can translate along the shaft and shift the robot's center of gravity towards the robot's sides. The pendulum rotates around the shaft to propel the SR to roll forward and backward. These two actuators enable the SR to perform both rolling and turning maneuvers as a nonholonomic robot. The advantage of the proposed mechanical design lies in its convenience of physical implementation, agility, and accurate mathematical model. The Euler Lagrange approach is utilized to derive the dynamics of the proposed mechanical structure using minimum simplifications possible. Further, a path tracking control scheme is introduced for a smooth trajectory. Finally, simulations are carried out in MATLAB to verify the accuracy of the mathematical model and the effectiveness of the controller against experimental results.

Published
2019

2. Kinematics of Spherical Robots Rolling Over 3D Terrains

Author

Moazami, Saeed, Zargarzadeh, Hassan, and Palanki, Srinivas

Subjects
Computer Science - Robotics
Abstract

Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics equations of the most common SRs configurations rolling over 3D surfaces. First, the kinematics equations for a geometrical sphere rolling over a 3D surface are derived along with the characterization of the modeling method. Next, a brief review of current SR mechanical configurations is presented as well as a novel classification for spherical robots based on their kinematics. Then, considering the mechanical constraints of each category, the kinematics equations for each group of spherical robots are presented. Afterwards, a path tracking method is utilized for a desired 3D trajectory. Finally, simulations are carried out to validate the developed models and the effectiveness of the proposed control scheme.

Published
2019
Full Text
View/download PDF

18. Acquisition of troubleshooting skills in a computer simulation: Worked example vs. conventional problem solving instructional strategies

Author

Darabi, A. Aubteen, Nelson, David W., and Palanki, Srinivas

Subjects
Computers, Psychology and mental health, Sociology and social work
Abstract

To link to full-text access for this article, visit this link: http://dx.doi.org/10.1016/j.chb.2005.11.001 Byline: A. Aubteen Darabi (a), David W. Nelson (a), Srinivas Palanki (b) Keywords: Simulation-based training; Computer-based training; Worked examples; Troubleshooting; Problem solving; Practice Abstract: In a computer-based simulation of a chemical processing plant, the differential effects of three instructional strategies for learning how to troubleshoot the plant's malfunctions were investigated. In an experiment concerning learners' transfer performance and mental effort, the simulation presented the three strategies to three groups of learners and measured their performance on the transfer tasks. In this experiment, conventional problem solving was contrasted with two worked example strategies. The results indicated a significant difference between practicing problem solving and using worked examples. Learners who practiced problem solving in an interactive simulation outperformed the learners who studied computer-based worked examples. They also invested lower mental effort in transfer tasks. When accounting for the difference in the learners' domain knowledge, the strategies were not significantly different among the more experienced learners. For the less experienced learners, those who practiced problem solving significantly outperformed their worked example counterparts. Among all participants and also among less experienced learners the problem solving group invested significantly lower mental effort in the performance of transfer tasks. Based on the results of this study, the authors recommend the use of the conventional problem solving strategy with or without worked examples for learning complex skills. Author Affiliation: (a) The Learning Systems Institute, Florida State University, 4600-C University Center, Tallahassee, FL 32306-2540, United States (b) College of Engineering, Florida State University, United States

Published
2007

27. Design and Simulation for Tank Farm Emission Control at a Polymer Plant

Author

Xu Qiang, Ho Thomas, Haque M. Emdadul, and Palanki Srinivas

Subjects
chemistry.chemical_classification, business.industry, Control (management), Simulation modeling, Polymer, Energy consumption, law.invention, Pressure swing adsorption, chemistry, law, Scientific method, Environmental science, Volatile organic compound, Process engineering, business, Distillation
Abstract

Tank farms at polymer plants generate highly reactive VOC (volatile organic compound) emission sources, mainly 1, 3-butadiene, which needs to be recycled instead of flared for the sake of industrial and environmental suitability. However, current practices for such an emission control mainly depends on new operating procedures, process modifications, as well as preventive and predictive maintenances. Few have addressed the use of a flare gas recovery unit (FGRU). This paper developed four FGRUs with their simulation models for effective tank farm emission control at a polymer plant, which includes a distillation process, a pressure swing adsorption (PSA) process, and two combinations of both distillation and PSA wherein PSA is employed either before or after the distillation unit. Process simulations for the emission control of the studied polymer plant have demonstrated the efficacy of the four designed emission control processes. The study has also compared their capital and energy consumption costs. The development of this study provides a solid foundation for better emission controls in the polymer industry.

Published
2019

30. Design of a Fuel Processor System for Generating Hydrogen for Automotive Applications

Author

Kolavennu, Panini K., Telotte, John C., and Palanki, Srinivas

Abstract

The objective of this paper is to design a train of tubular reactors that use a methane feed to produce hydrogen of the desired purity so that it can be utilized by a fuel cell for automotive applications. Reaction engineering principles, which are typically covered at the undergraduate level, are utilized to design this reactor train. It is shown that the design equations can be solved via numerical integration in MATLAB as well as in the process simulator CHEMCAD.

Published
2006

Catalog

Books, media, physical & digital resources
See catalog results