Optimization of CO2 production rate for firefighting robot applications using response surface methodology
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Date
2018-01-01
Journal Title
Journal ISSN
Volume Title
Publisher
Cogent
Abstract
A carbon dioxide gas-powered pneumatic actuation has been proposed
as a suitable power source for an autonomous firefighting robot (CAFFR), which is
designed to operate in an indoor fire environment in our earlier study. Considering
the consumption rate of the pneumatic motor, the gas-powered actuation that is
based on the theory of phase change material requires optimal determination of
not only the sublimation rate of carbon dioxide but also the sizing of dry ice
granules. Previous studies that have used the same theory are limited to generating
a high volume of carbon dioxide without reference to neither the production rate of
the gas nor the size of the granules of the dry ice. However, such consideration
remains a design requirement for efficient driving of a carbon dioxide-powered
firefighting robot. This paper investigates the effects of influencing design parameters on the sublimation rate of dry ice for powering a pneumatic motor. The
optimal settings of these parameters that maximize the sublimation rate at the
minimal time and dry ice mass are presented. In the experimental design and
analysis, we employed full-factorial design and response surface methodology to fit
an acceptable model for the relationship between the design factors and the
response variables. Predictive models of the sublimation rate were examined viaANOVA, and the suitability of the linear model is confirmed. Further, an optimal
sublimation rate value of 0.1025 g/s is obtained at a temperature of 80°C, the mass
of 16.1683 g, and sublimation time of 159.375 s.
Description
Keywords
Power & Energy, Robotics & Cybernetics, Mechatronics
Citation
Ajala, M. T., Khan, M. R., Shafie, A. A., Salami, M. J. E., Nor, M. M., & Oladokun, M. O. (2018). Optimization of CO2 production rate for firefighting robot applications using response surface methodology. Cogent Engineering, 5(1), 1555744.