Araştırma Makalesi
BibTex RIS Kaynak Göster

AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS

Yıl 2025, Cilt: 9 Sayı: 2, 283 - 293, 30.08.2025
https://doi.org/10.46519/ij3dptdi.1733596

Öz

This study involves a thorough investigation encompassing the comprehensive design, development, topology optimization and power analysis of a mobile snow removal robotic system. The creation of all subcomponents and assembly models was undertaken using Computer-Aided Design (CAD) tools. The electronic hardware, including components such as batteries, Raspberry Pi, and motor drivers, were selected. The assembly of these parts was then conducted, with the objective of integrating them into the overall structure. Finite element analyses (FEA) were performed to evaluate the system's structural strength and stability. The objective of topology optimization was to minimize the weight and energy consumption of the mobile robot. As a result, an optimized structure achieving a 7% weight reduction and 9% energy savings was developed. A novel feature of this study is the integration of a custom-designed Python-based power analysis tool, enabling precise energy consumption comparison between optimized and non-optimized structures. These combined methods demonstrate a significant improvement over the existing snow removal robotic system.

Kaynakça

  • 1. Nourbakhsh, I.R. and Siegwart, R., Introduction to Autonomous Mobile Robots, 2004.
  • 2. Silva, M.F. and Tenreiro Machado, J.A.T., “A historical perspective of legged robots”, Journal of Vibration and Control, Vol. 13, Issues 9–10, Pages 1447–1486, 2007.
  • 3. Chen, X., Chen, Y.Q. and Chase, J.G., “Mobile robots—state of the art in land, sea, air, and collaborative missions”, 2009.
  • 4. Tajti, F., Szayer, G., Kovács, B., Dániel, B. and Korondi, P., “CRM TC covering paper—Robotics trends”, IECON 2013 – 39th Annual Conference of the IEEE Industrial Electronics Society, Pages 48–53, 2013.
  • 5. Hahnel, D., Triebel, R., Burgard, W. and Thrun, S., “Map building with mobile robots in dynamic environments”, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Pages 1557–1563, 2003.
  • 6. Garcia, E., Jimenez, M.A., De Santos, P.G. and Armada, M., “The evolution of robotics research”, IEEE Robotics & Automation Magazine, Vol. 14, Issue 1, Pages 90–103, 2007.
  • 7. Patnaik, S. and Patnaik, S., “Cybernetic view of robot cognition and perception”, Robot Cognition and Navigation: An Experiment with Mobile Robots, Pages 1–20, 2007.
  • 8. Behnke, S., “Humanoid robots—from fiction to reality”, Künstliche Intelligenz, Vol. 22, Issue 4, Pages 5–9, 2008.
  • 9. Durán, B. and Thill, S., “Rob’s robot: Current and future challenges for humanoid robots”, The Future of Humanoid Robots – Research and Applications, Pages 279–300, 2012.
  • 10. Valgren, C., Duckett, T. and Lilienthal, A., “Incremental spectral clustering and its application to topological mapping”, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Pages 4283–4288, 2007.
  • 11. Sucuoglu, H.S., Bogrekci, I., Demircioglu, P. and Turhanlar, O., “Design & FEA and multi-body system analysis of human rescue robot arm”, Advanced Mechatronics Solutions, Pages 651–656, Springer International Publishing, 2016.
  • 12. Demir, N., Sucuoglu, H.S., Bogrekci, I. and Demircioglu, P., “Topology optimization of mobile transportation robot”, International Journal of 3D Printing Technologies and Digital Industry, Vol. 5, Issue 2, Pages 210–219, 2021.
  • 13. O. Yildiz, “Açık Radyo Erişim Ağı Üzerine Sistematik Bir İnceleme: Bileşenler, Uygulamalar ve Gelecek Perspektifleri”, BSJ Eng. Sci., Vol. 8, Issue. 4, Pages. 1235–1244, 2025.
  • 14. Bendsøe, M.P. and Kikuchi, N., “Generating optimal topologies in structural design using a homogenization method”, Computer Methods in Applied Mechanics and Engineering, Vol. 71, Issue 2, Pages 197–224, 1988.
  • 15. Zhu, J.H., Zhang, W.H. and Xia, L., “Topology optimization in aircraft and aerospace structures design”, Archives of Computational Methods in Engineering, Vol. 23, Pages 595–622, 2016.
  • 16. Das, R., Jones, R. and Xie, Y.M., “Design of structures for optimal static strength using ESO”, Engineering Failure Analysis, Vol. 12, Issue 1, Pages 61–80, 2005.
  • 17. Abolbashari, M.H. and Keshavarzmanesh, S., “On various aspects of application of the evolutionary structural optimization method for 2D and 3D continuum structures”, Finite Elements in Analysis and Design, Vol. 42, Issue 6, Pages 478–491, 2006.
  • 18. Rozvany, G.I.N., “Exact analytical solutions for some popular benchmark problems in topology optimization”, Structural Optimization, Vol. 15, Pages 42–48, 1998.
  • 19. Ozkal, F.M. and Uysal, H., “Determination of the best topology for deep beams with web opening by the evolutionary method”, 8th International Congress on Advances in Civil Engineering, Gazi Mağusa, North Cyprus, 2008.
  • 20. Yurdem, H., Degirmencioglu, A., Cakir, E. and Gulsoylu, E., “Measurement of strains induced on a three-bottom moldboard plough under load and comparisons with finite element simulations”, Measurement, Vol. 136, Pages 594–602, 2019.
  • 21. Sreeramoju, S. and Rao, M.S., “Design and analysis of quad copter chassis using shape optimization technique”, International Journal for Research in Applied Science and Engineering Technology, Vol. 11, Issue 3, 2023.
  • 22. Sobockı, S., Legutko, S., Wojcıechowskı, J. and Szymczyk, S., “Topology optimization as a design tool—An industrial example of spray tank bracket”, Acta Technica Napocensis - Series: Applied Mathematics, Mechanics, and Engineering, Vol. 65, Issue 4s, 2023.
  • 23. Yao, M.A., Wei, S.U., Lai, Q., Yu, Q. and Wan, Y., “Finite element analysis and topology optimization design of lightweight Panax notoginseng transplanting machine frame”, Journal of Intelligent Agricultural Mechanization, Vol. 5, Issue 2, Pages 51–60, 2024.
  • 24. Zhao, W., Wang, L., Zhang, Y., Cao, X., Wang, W., Liu, Y. and Li, B., “Snow melting on a road unit as affected by thermal fluids in different embedded pipes”, Sustainable Energy Technologies and Assessments, Vol. 46, 101221, 2021.
  • 25. Zonta, T., Selvanathan, J., Patel, J., Wilson, K., Kaura, H., Berry, C. and Barari, A., “Autonomous snowblower utilizes internet for minimal power consumption”, 2021 14th IEEE International Conference on Industry Applications, Pages 686–693, 2021.

AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS

Yıl 2025, Cilt: 9 Sayı: 2, 283 - 293, 30.08.2025
https://doi.org/10.46519/ij3dptdi.1733596

Öz

This study involves a thorough investigation encompassing the comprehensive design, development, topology optimization and power analysis of a mobile snow removal robotic system. The creation of all subcomponents and assembly models was undertaken using Computer-Aided Design (CAD) tools. The electronic hardware, including components such as batteries, Raspberry Pi, and motor drivers, were selected. The assembly of these parts was then conducted, with the objective of integrating them into the overall structure. Finite element analyses (FEA) were performed to evaluate the system's structural strength and stability. The objective of topology optimization was to minimize the weight and energy consumption of the mobile robot. As a result, an optimized structure achieving a 7% weight reduction and 9% energy savings was developed. A novel feature of this study is the integration of a custom-designed Python-based power analysis tool, enabling precise energy consumption comparison between optimized and non-optimized structures. These combined methods demonstrate a significant improvement over the existing snow removal robotic system.

Kaynakça

  • 1. Nourbakhsh, I.R. and Siegwart, R., Introduction to Autonomous Mobile Robots, 2004.
  • 2. Silva, M.F. and Tenreiro Machado, J.A.T., “A historical perspective of legged robots”, Journal of Vibration and Control, Vol. 13, Issues 9–10, Pages 1447–1486, 2007.
  • 3. Chen, X., Chen, Y.Q. and Chase, J.G., “Mobile robots—state of the art in land, sea, air, and collaborative missions”, 2009.
  • 4. Tajti, F., Szayer, G., Kovács, B., Dániel, B. and Korondi, P., “CRM TC covering paper—Robotics trends”, IECON 2013 – 39th Annual Conference of the IEEE Industrial Electronics Society, Pages 48–53, 2013.
  • 5. Hahnel, D., Triebel, R., Burgard, W. and Thrun, S., “Map building with mobile robots in dynamic environments”, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Pages 1557–1563, 2003.
  • 6. Garcia, E., Jimenez, M.A., De Santos, P.G. and Armada, M., “The evolution of robotics research”, IEEE Robotics & Automation Magazine, Vol. 14, Issue 1, Pages 90–103, 2007.
  • 7. Patnaik, S. and Patnaik, S., “Cybernetic view of robot cognition and perception”, Robot Cognition and Navigation: An Experiment with Mobile Robots, Pages 1–20, 2007.
  • 8. Behnke, S., “Humanoid robots—from fiction to reality”, Künstliche Intelligenz, Vol. 22, Issue 4, Pages 5–9, 2008.
  • 9. Durán, B. and Thill, S., “Rob’s robot: Current and future challenges for humanoid robots”, The Future of Humanoid Robots – Research and Applications, Pages 279–300, 2012.
  • 10. Valgren, C., Duckett, T. and Lilienthal, A., “Incremental spectral clustering and its application to topological mapping”, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Pages 4283–4288, 2007.
  • 11. Sucuoglu, H.S., Bogrekci, I., Demircioglu, P. and Turhanlar, O., “Design & FEA and multi-body system analysis of human rescue robot arm”, Advanced Mechatronics Solutions, Pages 651–656, Springer International Publishing, 2016.
  • 12. Demir, N., Sucuoglu, H.S., Bogrekci, I. and Demircioglu, P., “Topology optimization of mobile transportation robot”, International Journal of 3D Printing Technologies and Digital Industry, Vol. 5, Issue 2, Pages 210–219, 2021.
  • 13. O. Yildiz, “Açık Radyo Erişim Ağı Üzerine Sistematik Bir İnceleme: Bileşenler, Uygulamalar ve Gelecek Perspektifleri”, BSJ Eng. Sci., Vol. 8, Issue. 4, Pages. 1235–1244, 2025.
  • 14. Bendsøe, M.P. and Kikuchi, N., “Generating optimal topologies in structural design using a homogenization method”, Computer Methods in Applied Mechanics and Engineering, Vol. 71, Issue 2, Pages 197–224, 1988.
  • 15. Zhu, J.H., Zhang, W.H. and Xia, L., “Topology optimization in aircraft and aerospace structures design”, Archives of Computational Methods in Engineering, Vol. 23, Pages 595–622, 2016.
  • 16. Das, R., Jones, R. and Xie, Y.M., “Design of structures for optimal static strength using ESO”, Engineering Failure Analysis, Vol. 12, Issue 1, Pages 61–80, 2005.
  • 17. Abolbashari, M.H. and Keshavarzmanesh, S., “On various aspects of application of the evolutionary structural optimization method for 2D and 3D continuum structures”, Finite Elements in Analysis and Design, Vol. 42, Issue 6, Pages 478–491, 2006.
  • 18. Rozvany, G.I.N., “Exact analytical solutions for some popular benchmark problems in topology optimization”, Structural Optimization, Vol. 15, Pages 42–48, 1998.
  • 19. Ozkal, F.M. and Uysal, H., “Determination of the best topology for deep beams with web opening by the evolutionary method”, 8th International Congress on Advances in Civil Engineering, Gazi Mağusa, North Cyprus, 2008.
  • 20. Yurdem, H., Degirmencioglu, A., Cakir, E. and Gulsoylu, E., “Measurement of strains induced on a three-bottom moldboard plough under load and comparisons with finite element simulations”, Measurement, Vol. 136, Pages 594–602, 2019.
  • 21. Sreeramoju, S. and Rao, M.S., “Design and analysis of quad copter chassis using shape optimization technique”, International Journal for Research in Applied Science and Engineering Technology, Vol. 11, Issue 3, 2023.
  • 22. Sobockı, S., Legutko, S., Wojcıechowskı, J. and Szymczyk, S., “Topology optimization as a design tool—An industrial example of spray tank bracket”, Acta Technica Napocensis - Series: Applied Mathematics, Mechanics, and Engineering, Vol. 65, Issue 4s, 2023.
  • 23. Yao, M.A., Wei, S.U., Lai, Q., Yu, Q. and Wan, Y., “Finite element analysis and topology optimization design of lightweight Panax notoginseng transplanting machine frame”, Journal of Intelligent Agricultural Mechanization, Vol. 5, Issue 2, Pages 51–60, 2024.
  • 24. Zhao, W., Wang, L., Zhang, Y., Cao, X., Wang, W., Liu, Y. and Li, B., “Snow melting on a road unit as affected by thermal fluids in different embedded pipes”, Sustainable Energy Technologies and Assessments, Vol. 46, 101221, 2021.
  • 25. Zonta, T., Selvanathan, J., Patel, J., Wilson, K., Kaura, H., Berry, C. and Barari, A., “Autonomous snowblower utilizes internet for minimal power consumption”, 2021 14th IEEE International Conference on Industry Applications, Pages 686–693, 2021.
Toplam 25 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Kontrol Mühendisliği, Mekatronik ve Robotik (Diğer), Makine Mühendisliğinde Optimizasyon Teknikleri, Endüstri Mühendisliği
Bölüm Araştırma Makalesi
Yazarlar

Hilmi Saygın Sucuoğlu 0000-0002-2136-6015

Yayımlanma Tarihi 30 Ağustos 2025
Gönderilme Tarihi 3 Temmuz 2025
Kabul Tarihi 8 Ağustos 2025
Yayımlandığı Sayı Yıl 2025 Cilt: 9 Sayı: 2

Kaynak Göster

APA Sucuoğlu, H. S. (2025). AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS. International Journal of 3D Printing Technologies and Digital Industry, 9(2), 283-293. https://doi.org/10.46519/ij3dptdi.1733596
AMA Sucuoğlu HS. AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS. IJ3DPTDI. Ağustos 2025;9(2):283-293. doi:10.46519/ij3dptdi.1733596
Chicago Sucuoğlu, Hilmi Saygın. “AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS”. International Journal of 3D Printing Technologies and Digital Industry 9, sy. 2 (Ağustos 2025): 283-93. https://doi.org/10.46519/ij3dptdi.1733596.
EndNote Sucuoğlu HS (01 Ağustos 2025) AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS. International Journal of 3D Printing Technologies and Digital Industry 9 2 283–293.
IEEE H. S. Sucuoğlu, “AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS”, IJ3DPTDI, c. 9, sy. 2, ss. 283–293, 2025, doi: 10.46519/ij3dptdi.1733596.
ISNAD Sucuoğlu, Hilmi Saygın. “AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS”. International Journal of 3D Printing Technologies and Digital Industry 9/2 (Ağustos2025), 283-293. https://doi.org/10.46519/ij3dptdi.1733596.
JAMA Sucuoğlu HS. AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS. IJ3DPTDI. 2025;9:283–293.
MLA Sucuoğlu, Hilmi Saygın. “AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS”. International Journal of 3D Printing Technologies and Digital Industry, c. 9, sy. 2, 2025, ss. 283-9, doi:10.46519/ij3dptdi.1733596.
Vancouver Sucuoğlu HS. AN INTELLIGENT SNOW REMOVAL ROBOTIC SYSTEM: TOPOLOGY BASED STRUCTURAL LIGHTWEIGHTING AND POWER CONSUMPTION ANALYSIS. IJ3DPTDI. 2025;9(2):283-9.

 download

Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.