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A new model for a viable battery swapping station is proposed to minimize its cost by determining the optimized charging schedule for swapped electric vehicle (EV) batteries. The aim is to minimize an objective function considering three factors: the number of batteries taken from stock to serve all the swapping orders from incoming EVs, potential charging damage with the use of high-rate chargers, and electricity cost for different time period of the day. A mathematical model is formulated for the charging process following the constant-current/constant-voltage charging strategy. An integrated algorithm is proposed to determine an optimal charging schedule, which is inspired by genetic algorithm, differential evolution, and particle swarm optimization. A series of simulation studies are executed to assess the feasibility of the proposed model and compare the performance between the proposed algorithm and the typical evolutionary algorithms. [ABSTRACT FROM AUTHOR]

This paper presents a gait analysis of the equilateral hexagonal model of hexapod robot. Mathematical analysis has been made on mobility, fault-tolerance, and stability. A comparison with the rectangular model of hexapod robot is also given, and it has shown that the hexagonal model shows better turning ability, a higher margin of stability during the fault-tolerant gait, and greater stride length in certain conditions. [ABSTRACT FROM AUTHOR]