Intelligent Energy Management System for Mobile Robot
Round 1
Reviewer 1 Report
Good paper with clear description. However, pay attention to formulas (1), (3) and the corresponding text, in which Iph must be replaced by I_PV (Look at the left side of the equations)
Author Response
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Author Response.pdf
Reviewer 2 Report
The manuscript presents an interesting topic, and it is easy to read. Authors present an improved approach to extend the battery life of mobile robots using solar panels.
Harvesting energy from renewable sources is a very important field of research in these days.
There are no big issues with English language.
Background theory and applied methodology are explained in detail.
Authors say the end application of this system could be search and rescue mobile robots. In unmanned aerial vehicles for surveillance operations, like the one described in reference number 2, the use of solar panels could be a good choice since that type of robots have large and (almost) flat areas (e.g. wings) and operate in outdoor (brighter) environments. However, terrestrial mobile robots for search and rescue, like the one presented in Figure 25, are commonly used in small and dark environments (e.g. debris of collapsed buildings), so, in my opinion, the use of solar panels in this type of robots is not suitable. What do you think about that?
Both control schemes are implemented in a computer. This approach is not realistic since a continuous communication channel between the computer and the mobile robot must be always open. The need of a continuous communication leads to an extra power consumption, decreasing battery life. On the other hand, complex control schemes could not be implemented in low power microcontrollers and therefore, the use of an on-board powerful computation device leads to higher energy consumption.
At the end of the document, you say “Finally, the other renewable energy sources should be explored to increase sustainability during the mission.”. What other renewable energy sources are you referring?
Author Response
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Reviewer 3 Report
In my opinion the paperr fails in two aspects1)Innovative content is not very clear
2)Advantage of proposed solution, is not very clear from exp. results. Advantages seems to be very reduced or marginal
After improving this two major flows i suggest to add some further reference regarding efficent mppt for autonomous marine drones, such as the following one:
Boni, E., Montagni, M., Moreschi, A., Pugi, L. Energy Storage System optimization for an Autonomous SailBoat (2019) 5th International Forum on Research and Technologies for Society and Industry: Innovation to Shape the Future, RTSI 2019 - Proceedings, art. no. 8895512, pp. 231-235. DOI: 10.1109/RTSI.2019.8895512
Author Response
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Reviewer 4 Report
The primary contribution of this paper is to proposed two control schemes for power sharing and load power recommendation. This study also removing the SC SoC as an input of FLC so it can simplify the computation process but also do not lose erformance significantly. Moreover, this study offers an important ability for MR (i.e., to provide sustainable power during the operation). It will extend the mission duration when operating the MR.
This paper is well organized and written, I only have the following suggestions:
1.The tense in the paper is not recommended to use the simple future tense, because the paper has been finished, I suggest using the simple present tense.
2.The content of this manuscript is too long, so it is suggested to cut it down properly and highlight the key points.
3.It is suggested that theoretical analysis should only give results, and the derivation process should refer to references.
4.In this paper,P and O algorithm is used in MPPT, if the step size of this method is too large, the stability will be poor, while if the step size is too small, the tracking will be poor. How can this paper solve this problem?
5.The innovation of this paper needs to be further condensed, and some suggestions are compared with the results of references. At the same time, it is suggested to compare the results of current mainstream methods to illustrate the value of this paper.
Author Response
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Author Response File: Author Response.pdf
