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Articles 62851 - 62880 of 291657
Full-Text Articles in Physical Sciences and Mathematics
Evaluation Of The Potential Of Nanofluids Containing Different Ag Nanoparticle Size Distributions For Enhanced Solar Energy Conversion In Hybrid Photovoltaic-Thermal (Pvt) Applications, James Walshe, John Doran, George Amarandei
Evaluation Of The Potential Of Nanofluids Containing Different Ag Nanoparticle Size Distributions For Enhanced Solar Energy Conversion In Hybrid Photovoltaic-Thermal (Pvt) Applications, James Walshe, John Doran, George Amarandei
Articles
Hybridising photovoltaic and photothermal technologies into a single system that can simultaneously deliver heat and power represents one of the leading strategies for generating clean energy at more affordable prices. In a hybrid photovoltaic-thermal (PVT) system, the capability to modulate the thermal and electrical power output is significantly influenced by the spectral properties of the heat transfer fluid utilised. In this study, we report on one of the first experimental evaluations of the capability of a multimodal silver nanofluid containing various particle shapes and particle sizes to selectively modulate the solar energy for PVT applications. The diverse set of particle …
Panic Engine - A Game Engine, Zachary Winters
Panic Engine - A Game Engine, Zachary Winters
Computer Science & Engineering Student Projects
A poster about a 3D web-based game engine based on three.js and their WebGL tools created over J-Term 2022. See link in Notes field for more information.
Envisage Planner Archive, Tim Swanson
Envisage Planner Archive, Tim Swanson
Computer Science & Engineering Student Projects
Envisage Planner is a web application designed to help students with all areas of academic planning. The developer started working on it several years ago (2020), and for the CS Senior project, he and several other CS students developed an update to it.
Iowa Waste Reduction Center Newsletter, January 2022, University Of Northern Iowa. Iowa Waste Reduction Center.
Iowa Waste Reduction Center Newsletter, January 2022, University Of Northern Iowa. Iowa Waste Reduction Center.
Iowa Waste Reduction Center Newsletter
Contents:
--- Upcoming Events
--- 2022 Director Address
--- IWRC Celebrates 34 Years
--- Jennifer Trent Elected as US Composting Council Vice President
--- January 31st Reporting Deadlines
--- Grain Facility PM10 PTE Due January 31, 2022
--- 6X Certification and Compliance Report for 2021
--- Minor Source Emissions Inventory Assistance
--- Industry News
A Systematic Analysis Of Community Detection In Complex Networks, Haji Gul, Feras Al-Obeidat, Adnan Amin, Muhammad Tahir, Fernando Moreira
A Systematic Analysis Of Community Detection In Complex Networks, Haji Gul, Feras Al-Obeidat, Adnan Amin, Muhammad Tahir, Fernando Moreira
All Works
Numerous techniques have been proposed by researchers to uncover the hidden patterns of real-world complex networks. Finding a hidden community is one of the crucial tasks for community detection in complex networks. Despite the presence of multiple methods for community detection, identification of the best performing method over different complex networks is still an open research question. In this article, we analyzed eight state-of-the-art community detection algorithms on nine complex networks of varying sizes covering various domains including animal, biomedical, terrorist, social, and human contacts. The objective of this article is to identify the best performing algorithm for community detection …
Economic Damages Of Wild Pigs In Non-Traditional Areas: From The Fairway To The After Life, Sophie Mckee, Julie Elser, Maryfrances Miller, Lirong Liu, Ryan Miller, Steven S. Shwiff, Stephanie A. Shwiff
Economic Damages Of Wild Pigs In Non-Traditional Areas: From The Fairway To The After Life, Sophie Mckee, Julie Elser, Maryfrances Miller, Lirong Liu, Ryan Miller, Steven S. Shwiff, Stephanie A. Shwiff
United States Department of Agriculture Wildlife Services: Staff Publications
Invasive wild pigs are widely known to cause damage to agricultural properties and commodities, but less has been reported about damages to other types of property. A survey was distributed to golf courses and cemeteries across Texas to explore the extent of damage these properties experience. While both property types reported significant damages, golf courses were found to experience more damage than cemeteries. Using average reported costs and predicted county-level damage, total costs for all golf courses and cemeteries across the state were estimated to exceed $1.6 million USD per year.
Improving Efficiency Of Prairie Dog Surveys By Using A Small Copter Drone, Aaron B. Shiels, J. W. Fischer, Danika Spock, Meagan Allira
Improving Efficiency Of Prairie Dog Surveys By Using A Small Copter Drone, Aaron B. Shiels, J. W. Fischer, Danika Spock, Meagan Allira
United States Department of Agriculture Wildlife Services: Staff Publications
Prairie dogs are an accessible and enjoyed wildlife species in Colorado that require occasional surveys because populations can change abruptly due to plague outbreaks or human-induced control. We evaluated the use of small copter drones at four prairie dog colonies on Open Space and Mountain Parks lands, City of Boulder, to determine if this methodology improves efficiency over ground-based survey methods. We counted prairie dogs and burrows using two types of drones (DJI Matric 210 and Autel Evo II) at altitudes 100', 150', and 400' (burrows only). We recorded video and merged still images into orthomosaics prior to having USDA …
Foot Injuries In Michigan, Usa, Gray Wolves (Canis Lupus), 1992–2014, Daniel J. O'Brien, Dean E. Beyer Jr., Erin Largent, Julie R. Melotti, Caitlin N. Ott-Conn, Donald H. Lonsway, Thomas M. Cooley, Robert Atkinson, Michelle Clayson, Kelly A. Straka
Foot Injuries In Michigan, Usa, Gray Wolves (Canis Lupus), 1992–2014, Daniel J. O'Brien, Dean E. Beyer Jr., Erin Largent, Julie R. Melotti, Caitlin N. Ott-Conn, Donald H. Lonsway, Thomas M. Cooley, Robert Atkinson, Michelle Clayson, Kelly A. Straka
United States Department of Agriculture Wildlife Services: Staff Publications
The range of gray wolves (Canis lupus) in the contiguous US is expanding. Research and monitoring to support population recovery and management often involves capture via foothold traps. A population-level epidemiologic assessment of the effect of trap injuries on wolf survival remains needed to inform management. We describe the baseline rate, type, and severity of foot injuries of wolves born 1992–2013 in Michigan’s Upper Peninsula, evaluate the reliability of field-scoring trap-related injuries, and the effect of injuries on wolf survival. We assessed foot injuries by physical and radiographic exam at postmortem and/or time of capture for 351 wolves using the …
Olfactory Lures In Predator Control Do Not Increase Predation Risk To Birds In Areas Of Conservation Concern, Page Klug, Amy A. Yackel Adams, Robert N. Reed
Olfactory Lures In Predator Control Do Not Increase Predation Risk To Birds In Areas Of Conservation Concern, Page Klug, Amy A. Yackel Adams, Robert N. Reed
United States Department of Agriculture Wildlife Services: Staff Publications
Context. Lethal control of predators is often undertaken to protect species of conservation concern. Traps are frequently baited to increase capture efficacy, but baited traps can potentially increase predation risk by attracting predators to protected areas. This is especially important if targeted predators can escape capture due to low trap success. Snake traps using live mouse lures may be beneficial if traps effectively remove snakes in the presence of birds and do not attract additional snakes to the area.
Aims. The present study evaluated whether mouse-lure traps in areas occupied by birds (simulated by deploying birdlure traps) could influence predation …
Wild Pig Removal Reduces Pathogenic Bacteria In Low-Order Streams, Sara A. Bolds, B. Graeme Lockaby, Latif Kalin, Stephen S. Ditchkoff, Mark D. Smith, Kurt Vercauteren
Wild Pig Removal Reduces Pathogenic Bacteria In Low-Order Streams, Sara A. Bolds, B. Graeme Lockaby, Latif Kalin, Stephen S. Ditchkoff, Mark D. Smith, Kurt Vercauteren
United States Department of Agriculture Wildlife Services: Staff Publications
Invasive wild pig populations have undergone enormous increases in the United States and particularly across the southern U.S. in recent years. High fecundity rates and abilities to adapt quickly to varied habitats have enabled pig populations to become entrenched and difficult to eliminate. The pigs cause many negative impacts on ecosystems including degradation of water quality through infusion of fecal contamination and other non-point source pollutants. Our goal was to determine the effects of pig removal on water quality in streams that were known to be significantly polluted by pig activity Bolds (J Environ Qual 50: 441–453, 2021). We compared …
Geological And Environmental Sciences - 2022, Dept. Of Geological And Environmental Sciences
Geological And Environmental Sciences - 2022, Dept. Of Geological And Environmental Sciences
Geological and Environmental Sciences News
- Greetings from the Department Chair
- Faculty Updates
- MGS Updates
- MGRRE Updates
- GEOSCIENCES ADVISORY COUNCIL
- 2022 Distinguished Alumni Sara Pearson
- Student Clubs
- In Remembrance of Dr. Alan E. Kehew (1947 – 2022)
- In Remembrance of Dr. Michael Barcelona (1949–2022)
- Awards and Honors, 2022
- Department Graduates
- Publications 2021–22
- Gifts and Donors
Developing An Ios Game Application: Magnet Hockey, Trevor D. Wysong
Developing An Ios Game Application: Magnet Hockey, Trevor D. Wysong
The Graduate Review
Mobile application development requires mindful and meticulous planning. Application design should be responsive and intuitive so that navigation feels natural for the user. All targeted devices should be offered a relatively consistent experience. To ensure this, app performance needs to be closely monitored and different screen sizes and aspect ratios need to be considered when scaling. For an app to become attractive to many people, it should either be competitive with similar apps or be unique and interesting enough to entice people to download it. A unique app should couple familiar elements with new components or twists [8]. People are …
Extending Plasma Proteome Coverage To Enable Biomarker Discovery, Jordan Bruce Burton
Extending Plasma Proteome Coverage To Enable Biomarker Discovery, Jordan Bruce Burton
Wayne State University Dissertations
Two features make plasma a valued source of health information: First, plasma contains secreted proteins from all tissues in the body and can, therefore, provide information about the health status of all tissues. Second, plasma is available in large quantity using a minimally invasive procedure that is well tolerated. The status of plasma as a valued source of health information is matched by the difficulty in extracting proteome information from the samples. Using state of the art instrumentation a standard analysis of plasma yields quantitative information on approximately 300 proteins. Extreme fractionation strategies coupled with increased mass spectrometry time extends …
A C0 Finite Element Method For The Biharmonic Problem In A Polygonal Domain, Charuka Dilhara Wickramasinghe
A C0 Finite Element Method For The Biharmonic Problem In A Polygonal Domain, Charuka Dilhara Wickramasinghe
Wayne State University Dissertations
This dissertation studies the biharmonic equation with Dirichlet boundary conditions in a polygonal domain. The biharmonic problem appears in various real-world applications, for example in plate problems, human face recognition, radar imaging, and hydrodynamics problems. There are three classical approaches to discretizing the biharmonic equation in the literature: conforming finite element methods, nonconforming finite element methods, and mixed finite element methods. We propose a mixed finite element method that effectively decouples the fourth-order problem into a system of one steady-state Stokes equation and one Poisson equation. As a generalization to the above-decoupled formulation, we propose another decoupled formulation using a …
The State Of The Art Of Information Integration In Space Applications, Zhuming Bi, K. L. Yung, Andrew W.H. Ip., Yuk Ming Tang, Chris W.J. Zhang, Li Da Xu
The State Of The Art Of Information Integration In Space Applications, Zhuming Bi, K. L. Yung, Andrew W.H. Ip., Yuk Ming Tang, Chris W.J. Zhang, Li Da Xu
Information Technology & Decision Sciences Faculty Publications
This paper aims to present a comprehensive survey on information integration (II) in space informatics. With an ever-increasing scale and dynamics of complex space systems, II has become essential in dealing with the complexity, changes, dynamics, and uncertainties of space systems. The applications of space II (SII) require addressing some distinctive functional requirements (FRs) of heterogeneity, networking, communication, security, latency, and resilience; while limited works are available to examine recent advances of SII thoroughly. This survey helps to gain the understanding of the state of the art of SII in sense that (1) technical drivers for SII are discussed and …
Comparison Effect On Biogas Production From Vegetable And Fruit Waste With Rumen Digesta Through Co-Digestion Process, Anika Tasnim, Muhammad Rashed Al Mamun, Md Anwar Hossen, Md Towfiqur Rahman, Md Janibul Alam Soeb
Comparison Effect On Biogas Production From Vegetable And Fruit Waste With Rumen Digesta Through Co-Digestion Process, Anika Tasnim, Muhammad Rashed Al Mamun, Md Anwar Hossen, Md Towfiqur Rahman, Md Janibul Alam Soeb
Department of Agricultural and Biological Systems Engineering: Faculty Publications
Biogas is the best renewable energy as it can be produced from any biomass for example any plant or living organism. The purpose of this research was to produce biomethane from co-digestion of vegetable and fruit waste with rumen digesta through anaerobic digestion process. In this research, two trials of experiment were conducted. Each trial has three different sample with different mixing ratios. Raw materials used in the experiment was rumen digesta of goat and cow, potato, capsicum, cucumbers, onions, radish, cauliflower, carrot, leafy vegetables, apple, banana, and papaya. In each sample, 1200 gram of raw materials were used. Hydraulic …
The Effects Of Recommender System On Sales Promotion Of High-Value Products: Evidence From A Field Experiment In The Real Estate Industry, Lian Liu
Dissertations and Theses Collection (Open Access)
Real estate sales industry in China has long suffered the problem of inefficient matching of customers to projects. Inspired by the design of recommender systems, which have been widely used in the online retail industry, and are shown to facility customer-product matching and improve sales, we apply this system to the real estate sales industry using a novel approach. Instead of recommending products to customers, we suggest the best potential customers to salespeople with whom they will conduct sales with. Using city-wide sales data from the largest real estate sales company in China, we first develop a recommend system based …
Deep Learning For Video-Grounded Dialogue Systems, Hung Le
Deep Learning For Video-Grounded Dialogue Systems, Hung Le
Dissertations and Theses Collection (Open Access)
In recent years, we have witnessed significant progress in building systems with artificial intelligence. However, despite advancements in machine learning and deep learning, we are still far from achieving autonomous agents that can perceive multi-dimensional information from the surrounding world and converse with humans in natural language. Towards this goal, this thesis is dedicated to building intelligent systems in the task of video-grounded dialogues. Specifically, in a video-grounded dialogue, a system is required to hold a multi-turn conversation with humans about the content of a video. Given an input video, a dialogue history, and a question about the video, the …
Power In Numbers: An Abundance Of Small Corals Responsible For Storing Over Half Of The Carbon Stored By All Alaskan Primnoa Pacifica Deep-Sea Corals, Sylvie Alexander
Power In Numbers: An Abundance Of Small Corals Responsible For Storing Over Half Of The Carbon Stored By All Alaskan Primnoa Pacifica Deep-Sea Corals, Sylvie Alexander
Scripps Senior Theses
Gorgonian deep-sea corals (DSCs) are biologically linked to ocean carbon cycling converting ocean carbon to gorgonin and calcite in their skeletons. As such, gorgonian DSCs likely accumulate and store carbon in their skeleton throughout their lifespans, acting as carbon sinks on historic timescales. Yet, DSC carbon storage hasn’t been investigated to date. This study evaluates gorgonian DSC carbon storage capacity through an evaluation of the carbon stored by Alaskan Primnoa pacifica corals. The development of a model relating coral height to biomass in specimens with this data available was used to determine biomass values in a suite of Alaskan P. …
A Pivotal New Approach To Groundwater Quality Assessment, M. L. Cherry, T. Gilmore, T. Messer, Y. Li, J. Westrop
A Pivotal New Approach To Groundwater Quality Assessment, M. L. Cherry, T. Gilmore, T. Messer, Y. Li, J. Westrop
School of Natural Resources: Faculty Publications
No abstract provided.
A Biological And Chemical Approach To Restoring Water Quality: A Case Study In An Urban Eutrophic Pond, Levi J. Mckercher, Tiffany L. Messer, Aaron R. Mittelstet, Steve D. Comfort
A Biological And Chemical Approach To Restoring Water Quality: A Case Study In An Urban Eutrophic Pond, Levi J. Mckercher, Tiffany L. Messer, Aaron R. Mittelstet, Steve D. Comfort
School of Natural Resources: Faculty Publications
Efforts to improve water quality of eutrophic ponds often involve implementing changes to watershed management practices to reduce external nutrient loads. While this is required for long-term recovery and prevention, eutrophic conditions are often sustained through the recycling of internal nutrients already present within the waterbody. In particular, internal phosphorus bound to organic material and adsorbed to sediment has the potential to delay lake recovery for decades. Thus, pond and watershed management techniques are needed that not only reduce external nutrient loading but also mitigate the effects of internal nutrients already present. Therefore, our objective was to demonstrate a biological …
Optimized Cancer Detection On Various Magnified Histopathological Colon Imagesbased On Dwt Features And Fcm Clustering, Tina Babu, Tripty Singh, Deepa Gupta, Shahin Hameed
Optimized Cancer Detection On Various Magnified Histopathological Colon Imagesbased On Dwt Features And Fcm Clustering, Tina Babu, Tripty Singh, Deepa Gupta, Shahin Hameed
Turkish Journal of Electrical Engineering and Computer Sciences
Due to the morphological characteristics and other biological aspects in histopathological images, the computerized diagnosis of colon cancer in histopathology images has gained popularity. The images acquired using the histopathology microscope may differ for greater visibility by magnifications. This causes a change in morphological traits leading to intra and inter-observer variability. An automatic colon cancer diagnosis system for various magnification is therefore crucial. This work proposes a magnification independent segmentation approach based on the connected component area and double density dual tree DWT (discrete wavelet transform) coefficients are derived from the segmented region. The derived features are reduced further shortened …
Cnn Based Sensor Fusion Method For Real-Time Autonomous Robotics Systems, Berat Yildiz, Aki̇f Durdu, Ahmet Kayabaşi, Mehmet Duramaz
Cnn Based Sensor Fusion Method For Real-Time Autonomous Robotics Systems, Berat Yildiz, Aki̇f Durdu, Ahmet Kayabaşi, Mehmet Duramaz
Turkish Journal of Electrical Engineering and Computer Sciences
Autonomous robotic systems (ARS) serve in many areas of daily life. The sensors have critical importance for these systems. The sensor data obtained from the environment should be as accurate and reliable as possible and correctly interpreted by the autonomous robot. Since sensors have advantages and disadvantages over each other they should be used together to reduce errors. In this study, Convolutional Neural Network (CNN) based sensor fusion was applied to ARS to contribute the autonomous driving. In a real-time application, a camera and LIDAR sensor were tested with these networks. The novelty of this work is that the uniquely …
Fft Enabled Ecc For Wsn Nodes Without Hardware Multiplier Support, Utku Gülen, Selçuk Baktir
Fft Enabled Ecc For Wsn Nodes Without Hardware Multiplier Support, Utku Gülen, Selçuk Baktir
Turkish Journal of Electrical Engineering and Computer Sciences
ECC is a popular cryptographic algorithm for key distribution in wireless sensor networks where power efficiency is desirable. A power efficient implementation of ECC without using hardware multiplier support was proposed earlier for wireless sensor nodes. The proposed implementation utilized the number theoretic transform to carry operands to the frequency domain, and conducted Montgomery multiplication, in addition to other finite field operations, in that domain. With this work, we perform in the frequency domain only polynomial multiplication and use the fast Fourier transform to carry operands between the time and frequency domains. Our ECC implementation over $GF((2^{13}-1)^{13})$ on the MSP430 …
Improving Collaborative Recommendation Based On Item Weight Link Prediction, Sahraoui Kharroubi, Youcef Dahmani, Omar Nouali
Improving Collaborative Recommendation Based On Item Weight Link Prediction, Sahraoui Kharroubi, Youcef Dahmani, Omar Nouali
Turkish Journal of Electrical Engineering and Computer Sciences
There is a continuous information overload on the Web. The problem treated is how to have relevant items (documents, products, services, etc.) at time and without difficulty. Filtering system also called recommender systems are widely used to recommend items to users by similarity process such as Amazon, MovieLens, Cdnow, etc. In the literature, to predict a link in a bipartite network, most methods are based either on a binary history (like, dislike) or on the common neighbourhood of the active user. In this paper, we modelled the recommender system by a weighted bipartite network. The bipartite topology offers a bidirectional …
Using Vertical Areas In Finite Set Model Predictive Control Of A Three-Level Inverter Aimed At Computation Reduction, Alireza Jaafari, Alireza Davari, Cristian Garcia, Jose Rodriguez
Using Vertical Areas In Finite Set Model Predictive Control Of A Three-Level Inverter Aimed At Computation Reduction, Alireza Jaafari, Alireza Davari, Cristian Garcia, Jose Rodriguez
Turkish Journal of Electrical Engineering and Computer Sciences
In power electronics applications, finite set model predictive control (FS-MPC) has proven to be a viable strategy. However, due to the high processing power required, using this technology in multilevel converters is difficult. This strategy, which is based on predicting the behavior of the system for all conceivable states, has an issue with a numerous of possible switching states. A recent and useful strategy for dealing with the problem is the limiting of calculations based on triangle regions. Despite its success, this method has several limitations, including the computation required to locate the right triangle and the boundary modes. In …
Deep Learning-Aided Automated Personal Data Discovery And Profiling, Apdullah Yayik, Vedat Aybar, Hasan Hüseyi̇n Apik, Sevcan İçöz, Beki̇r Bakar, Tunga Güngör
Deep Learning-Aided Automated Personal Data Discovery And Profiling, Apdullah Yayik, Vedat Aybar, Hasan Hüseyi̇n Apik, Sevcan İçöz, Beki̇r Bakar, Tunga Güngör
Turkish Journal of Electrical Engineering and Computer Sciences
In Turkey, Turkish Personal Data Protection Rule (PDPR) No. 6698, in force since 2016, provides protection to citizens for the legal existence of their personal data. Although the law provides excellent guidance, companies currently face challenges in complying with its regulations in terms of storing, sharing, or monitoring personal data. Since any specially designed software with wide industrial usage is not on the market, almost all of the companies have no other choice but to take expensive and error-prone operations manually to ensure their compliance. In this paper, we present an automated solution to facilitate and accelerate PDPR compliance. In …
Evaluating The English-Turkish Parallel Treebank For Machine Translation, Onur Görgün, Olcay Taner Yildiz
Evaluating The English-Turkish Parallel Treebank For Machine Translation, Onur Görgün, Olcay Taner Yildiz
Turkish Journal of Electrical Engineering and Computer Sciences
This study extends our initial efforts in building an English-Turkish parallel treebank corpus for statistical machine translation tasks. We manually generated parallel trees for about 17K sentences selected from the Penn Treebank corpus. English sentences vary in length: 15 to 50 tokens including punctuation. We constrained the translation of trees by (i) reordering of leaf nodes based on suffixation rules in Turkish, and (ii) gloss replacement. We aim to mimic human annotator?s behavior in real translation task. In order to fill the morphological and syntactic gap between languages, we do morphological annotation and disambiguation. We also apply our heuristics by …
Application Of Long Short-Term Memory (Lstm) Neural Network Based On Deeplearning For Electricity Energy Consumption Forecasting, Mehmet Bi̇lgi̇li̇, Ni̇yazi̇ Arslan, Ali̇i̇hsan Şekerteki̇n, Abdulkadi̇r Yaşar
Application Of Long Short-Term Memory (Lstm) Neural Network Based On Deeplearning For Electricity Energy Consumption Forecasting, Mehmet Bi̇lgi̇li̇, Ni̇yazi̇ Arslan, Ali̇i̇hsan Şekerteki̇n, Abdulkadi̇r Yaşar
Turkish Journal of Electrical Engineering and Computer Sciences
Electricity is the most substantial energy form that significantly affects the development of modern life, work efficiency, quality of life, production, and competitiveness of the society in the ever-growing global world. In this respect, forecasting accurate electricity energy consumption (EEC) is fairly essential for any country?s energy consumption planning and management regarding its growth. In this study, four time-series methods; long short-term memory (LSTM) neural network, adaptive neuro-fuzzy inference system (ANFIS) with subtractive clustering (SC), ANFIS with fuzzy cmeans (FCM), and ANFIS with grid partition (GP) were implemented for the short-term one-day ahead EEC prediction. Root mean square error (RMSE), …
A Novel Energy Consumption Model For Autonomous Mobile Robot, Gürkan Gürgöze, İbrahi̇m Türkoğlu
A Novel Energy Consumption Model For Autonomous Mobile Robot, Gürkan Gürgöze, İbrahi̇m Türkoğlu
Turkish Journal of Electrical Engineering and Computer Sciences
In this study, a novel predictive energy consumption model has been developed to facilitate the development of tasks based on efficient energy consumption strategies in mobile robot systems. For the proposed energy consumption model, an advanced mathematical system model that takes into account all parameters during the motion of the mobile robot is created. The parameters of inclination, load, dynamic friction, wheel slip and speed-torque saturation limit, which are often neglected in existing models, are especially used in our model. Thus, the effects of unexpected disruptors on energy consumption in the real world environment are also taken into account. As …