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Based on the current widespread use of underwater vehicles, a special type of underwater glider equipped with energy-saving diamond-structured rotatable wings that can improve the underwater vehicle's lift-drag ratio optimize hydrodynamic performance, and enhance flight quality was studied. With the support of adaptive meshing technology and Fluent's epsilon standard turbulence model, lift and drag...
The underwater vehicles are always being disturbed by ocean current when they work under the sea. In this paper, the Magnus force of a new type autonomous underwater vehicle (AUV) named “autonomous underwater helicopter (AUH)”, a disk-shaped deep-sea underwater vehicle, was analyzed to help it move away from a deep-sea region with temporary ocean current. The simulation technique of the ANSYS-CFX...
Sea-crossing bridges are exposed to great waves. The wave induced dynamic effect on the structural response of the pier was carefully studied in this paper. The pier of Pingtan Strait railway bridge was taken as the example structure. The modal and dynamic response of the example pier under regular wave loadings were carried out using finite element software USFOS. The dynamic and static response...
This paper faces the technical and economic challenges related to the design of a green recharge area for electric vehicles at the Campus of Palermo, Italy, with the aim of reduce both costs and pollution connected to the charging process. Based on the behaviour of the student population, the electrical load is identified and two possible solutions are evaluated to manage the peak load: an orientation...
A hybrid aerial vehicle (HAV), featured combination of a quadrotor system and a fixed-wing system, is one of the most promising configurations having both a vertical take-off and landing (VTOL) capability and high cruise performance. In this paper, a HAV has been designed and prototyped to analyze the performance of the HAV. The specifications of the HAV are summarized. The aerodynamic coefficients...
To elicit bio-effects, ultrasound (US) stimulated microbubbles (MBs) must be in proximity to their target and this is not always the case (e.g. sonothrombolysis). Radiation forces can direct MBs to clots and our previous work suggested clot degradation patterns (Fig A) could be influenced by ‘transport pulses’. However, this is a complex process involving a population of MBs, with size-dependent radiation...
This paper addresses the vibration control problem of a nuclear refueling machine (RM) that transports fuel rods to given reactor locations in water. First, Hamilton's principle is used in developing a hybrid lumped-mass and distributed-parameter model of the RM to investigate the underwater vibrations of the fuel rods caused by the RM's movements. In deriving the control law, the hydrodynamic force...
This paper presents a novel strategy for controlling the yaw rotation of a new twin wind turbines structure without a dedicated actuator. The idea of such strategy is to create a difference between the powers produced by the wind turbines, by modifying the generators torques, in order to force the structure face the wind. Given that the wind turbine performance is affected by the wind variation, a...
Reducing the inter-vehicle separation in a platoon results in the most benefits in terms of aerodynamic savings and vehicles throughput. However, this makes braking maneuvers dangerous and leads to long stopping distances, in particular, when considering heterogeneous vehicles with different braking capacities. Even though control theoretic approaches exist for the platoon cruise operation, the scenario...
With the advent of autonomous driving, road trains or platoons are regaining importance as a meaningful way of improving traffic efficiency and economizing on fuel/energy. It has been shown that reducing inter-vehicle separations to less than one car length results in the most benefits for the whole platoon; however, this poses a number of challenges. In particular, it becomes difficult to guarantee...
Half-Rotating Wing (HRW) is a new type of analogous flapping wing system with rotating flapping used as a substitute for oscillating flapping. Estimating method of flight lift generated by HRW was one of the significant theoretical basis to design air vehicle. The working principle of HRW based on Half-Rotating Mechanism (HRM) together with the spanwise airflow and chordwise airflow generated during...
A novel switchable multiple-mode sensor fusion algorithm for attitude estimation of quadrotor is proposed in this paper. It is a robust algorithm which shows good performance in flight conditions where sustained translational acceleration and wind disturbance exist. This algorithm is based on quaternion-based extended Kalman filter (EKF) in direct configuration and uses measurements from a strap-down...
Use of a rotor type UAV that can perform three-dimensional movement and hover is being actively pursued. Although a multi-rotor type UAV is important, because it is driven by electric motors its application has the limitation of a short cruising time. In this study, the composition and control system of a single rotor UAV that achieves attitude control by pivotable vertical fins are proposed. Herein,...
The aim of this study is to design a descent control system for a CanSat that simulates a sensor payload travelling through a Martian atmosphere and sampling the atmospheric composition during flight. CanSat is a first step in space studies that gives low cost opportunity to test the space program design. The system is developed under the rules of International CanSat Competition 2016, which aims...
Feasibility study on implementing wind energy harvesting system on moving train is discussed in this study. Wind turbines installation over the train roof is suggested and tested from different aspects. Practical aspects of wind energy utilization are discussed and challenges are highlighted. Calculations of wind power generation for wagon roof mounted turbine are provided and air drag of turbine...
This paper describes the development of the underwater robot platform for exploration work in the strong current. In order to minimize the drag force as 3.5knots, the platform is designed to have discus-shape outline and the projected area of the platform is minimized. Furthermore, the thruster are deployed symmetrically, which is advantageous for hovering and attitude control in irregular current...
The dynamic analysis has been considered as one of the important design methods to design robots. In this research, we derive dynamic equation of hexapedal water-running robot to design compliant joints. The compliant joints that connect three bodies will be used to improve mobility and stability of water-running motion's pitch behavior. We considered all of parts as rigid body including links of...
Singularity-free modeling and control of Unmanned Aerial-Underwater Vehicles (UAUVs) are covered in this work. UAUVs are a new kind of unmanned vehicles capable of performing equally well in different mediums, and seamlessly transitioning between them. In particular, this work covers the modeling and attitude control of a special class of air-underwater vehicles with full torque actuation and a single...
Airborne wind energy is an emerging technology that is capable of harvesting wind energy by flying crosswind flight patterns with a tethered aircraft. Several companies are trying to scale-up their concept in order to be competitive in the energy market. However, the scaling process requires numerous iterations and trade-offs among the different components in terms of requirements that have to satisfy...
Dielectrophoretic force has been used to manipulate biological microparticles, such as red blood cells, white blood cells, cancer cells, etc… This technique has been used for trapping, sorting and separating biological particles suspended in a buffer medium. The strength of dielectrophoretic force depends strongly on the particle's electrical properties, the geometry of the microfluidic device, dielectric...
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