Prediction of dry ice mass for firefighting robot actuation

The limitation in the performance of electric actuated firefighting robots in high- temperature fire environment has led to research on the alternative propulsion system for the mobility of firefighting robots in such environment. Capitalizing on the limitation...

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Main Authors:	Ajala, Mosud T., Khan, Md. Raisuddin, Salami, Momoh Jimoh Eyiomika, Shafie, Amir Akramin, Mohamad Nor, Mahadzir Iskandar
Format:	Conference or Workshop Item
Language:	English English
Published:	IOP Publishing 2017
Subjects:	TJ241 Machine construction (General)
Online Access:	http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/1/61102_Prediction%20of%20dry%20ice%20mass.pdf http://irep.iium.edu.my/61102/2/61102_Prediction%20of%20dry%20ice%20mass_SCOPUS.pdf

id	iium-61102
recordtype	eprints
spelling	iium-611022018-06-26T08:10:14Z http://irep.iium.edu.my/61102/ Prediction of dry ice mass for firefighting robot actuation Ajala, Mosud T. Khan, Md. Raisuddin Salami, Momoh Jimoh Eyiomika Shafie, Amir Akramin Mohamad Nor, Mahadzir Iskandar TJ241 Machine construction (General) The limitation in the performance of electric actuated firefighting robots in high- temperature fire environment has led to research on the alternative propulsion system for the mobility of firefighting robots in such environment. Capitalizing on the limitations of these electric actuators we suggested a gas-actua ted propulsion system in our earlier study. The propulsion system is made up of a pneumatic motor as the actuator (for the robot) and carbon dioxide gas (self-generated from dry ice) as the power source. To satisfy the consumption requirement (9cfm) of the motor for efficient actuation of the robot in the fire environment, the volume of carbon dioxide gas, as well as the corresponding mass of the dry ice that will produce the required volume for powering and actuation of the robot, must be determined . This article, therefore, presents the computation al analysis to predict the volumetric requirement and the dry ice mass sufficient to power a carbon dioxide gas propelled autonomous firefighting robot in a high-temperature environment. The governing equation of the sublimation of dry ice to carbon dioxide is established. An operating time of 2105.53 s and operating pressure rang es from 137.9kPa to 482.65kPa were achieved following the consumption rate of the motor. Thus, 8.85m 3 is computed as the volume requirement of the CAFFR while the corresponding dry ice mass for the CAFFR actuation ranges from 21.67kg to 75.83 kg depending on the operating pressure . IOP Publishing 2017-08 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/61102/1/61102_Prediction%20of%20dry%20ice%20mass.pdf application/pdf en http://irep.iium.edu.my/61102/2/61102_Prediction%20of%20dry%20ice%20mass_SCOPUS.pdf Ajala, Mosud T. and Khan, Md. Raisuddin and Salami, Momoh Jimoh Eyiomika and Shafie, Amir Akramin and Mohamad Nor, Mahadzir Iskandar (2017) Prediction of dry ice mass for firefighting robot actuation. In: 6th International Conference on Mechatronics - ICOM'17, 8th–9th August 2017, Kuala Lumpur, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/260/1/012023/pdf 10.1088/1757-899X/260/1/012023
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ241 Machine construction (General)
spellingShingle	TJ241 Machine construction (General) Ajala, Mosud T. Khan, Md. Raisuddin Salami, Momoh Jimoh Eyiomika Shafie, Amir Akramin Mohamad Nor, Mahadzir Iskandar Prediction of dry ice mass for firefighting robot actuation
description	The limitation in the performance of electric actuated firefighting robots in high- temperature fire environment has led to research on the alternative propulsion system for the mobility of firefighting robots in such environment. Capitalizing on the limitations of these electric actuators we suggested a gas-actua ted propulsion system in our earlier study. The propulsion system is made up of a pneumatic motor as the actuator (for the robot) and carbon dioxide gas (self-generated from dry ice) as the power source. To satisfy the consumption requirement (9cfm) of the motor for efficient actuation of the robot in the fire environment, the volume of carbon dioxide gas, as well as the corresponding mass of the dry ice that will produce the required volume for powering and actuation of the robot, must be determined . This article, therefore, presents the computation al analysis to predict the volumetric requirement and the dry ice mass sufficient to power a carbon dioxide gas propelled autonomous firefighting robot in a high-temperature environment. The governing equation of the sublimation of dry ice to carbon dioxide is established. An operating time of 2105.53 s and operating pressure rang es from 137.9kPa to 482.65kPa were achieved following the consumption rate of the motor. Thus, 8.85m 3 is computed as the volume requirement of the CAFFR while the corresponding dry ice mass for the CAFFR actuation ranges from 21.67kg to 75.83 kg depending on the operating pressure .
format	Conference or Workshop Item
author	Ajala, Mosud T. Khan, Md. Raisuddin Salami, Momoh Jimoh Eyiomika Shafie, Amir Akramin Mohamad Nor, Mahadzir Iskandar
author_facet	Ajala, Mosud T. Khan, Md. Raisuddin Salami, Momoh Jimoh Eyiomika Shafie, Amir Akramin Mohamad Nor, Mahadzir Iskandar
author_sort	Ajala, Mosud T.
title	Prediction of dry ice mass for firefighting robot actuation
title_short	Prediction of dry ice mass for firefighting robot actuation
title_full	Prediction of dry ice mass for firefighting robot actuation
title_fullStr	Prediction of dry ice mass for firefighting robot actuation
title_full_unstemmed	Prediction of dry ice mass for firefighting robot actuation
title_sort	prediction of dry ice mass for firefighting robot actuation
publisher	IOP Publishing
publishDate	2017
url	http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/ http://irep.iium.edu.my/61102/1/61102_Prediction%20of%20dry%20ice%20mass.pdf http://irep.iium.edu.my/61102/2/61102_Prediction%20of%20dry%20ice%20mass_SCOPUS.pdf
first_indexed	2023-09-18T21:26:39Z
last_indexed	2023-09-18T21:26:39Z
_version_	1777412236670664704

Prediction of dry ice mass for firefighting robot actuation

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