Search Results (489)

Unmanned underwater vehicles (UUVs) capable of agile, high-speed maneuvering in complex environments require propulsion systems that can dynamically modulate three-dimensional forces. The California sea lion (Zalophus californianus) provides an exceptional biological model, using its foreflippers to achieve rapid turns and powerful propulsion. However, the specific kinematic mechanisms that govern instantaneous force generation from its powerful foreflippers remain poorly quantified. This study experimentally characterizes the time-varying thrust and lift produced by a bio-robotic sea lion foreflipper to determine how flipper twist, sweep, and phase overlap modulate propulsive forces. A three-degree-of-freedom bio-robotic flipper with a simplified, low-aspect-ratio planform and single compliant hinge was tested in a circulating flow tank, executing parameterized power and paddle strokes in both isolated and combined-phase trials. The time-resolved force data reveal that the propulsive stroke functions as a tunable hybrid system. The power phase acts as a force-vectoring mechanism, where the flipper’s twist angle reorients the resultant vector: thrust is maximized in a broad, robust range peaking near 45°, while lift increases monotonically to 90°. The paddle phase operates as a flow-insensitive, geometrically driven thruster, where twist angle (0° optimal) regulates thrust by altering the presented surface area. In the full stroke, a temporal-phase overlap governs thrust augmentation, while the power-phase twist provides robust steering control. Within the tested inertial flow regime (Re ≈ 10⁴–10⁵), this control map is highly consistent with propulsion dominated by geometric momentum redirection and impulse timing, rather than circulation-based lift. These findings establish a practical, experimentally derived control map linking kinematic inputs to propulsive force vectors, providing a foundation for the design and control of agile, bio-inspired underwater vehicles. Full article

This work investigates how the vehicle-to-tube suspension gap governs compressible flow physics and operating margins in Hyperloop-class transport at 10 kPa. To our knowledge, this is the first study to apply adjoint aerodynamic optimization to mitigate gap-induced choking and shock formation in a full pod–tube configuration. Using a steady, pressure-based Reynolds-averaged Navier-Stokes (RANS) framework with the GEnerlaized K-Omega (GEKO) turbulence model, a simulation for the cruise conditions was performed at M = 0.5–0.7 with a mesh-verified analysis (medium grid within 0.59% of fine) to quantify gap effects on forces and wave propagation. For small gaps, the baseline pod triggers oblique shocks and a near-Kantrowitz condition with elevated drag and lift. An adjoint shape update—primarily refining the aft geometry under a thrust-equilibrium constraint—achieves 27.5% drag reduction, delays the onset of choking by ~70%, and reduces the critical gap from d/D ≈ 0.025 to ≈0.008 at M = 0.7. The optimized configuration restores a largely subcritical passage, suppressing normal-shock formation and improving gap tolerance. Because propulsive power at fixed cruise scales with drag, these aerodynamic gains directly translate into operating-power reductions while enabling smaller gaps that can relax tube-diameter and suspension mass requirements. The results provide a gap-aware optimization pathway for Hyperloop pods and a compact design rule-of-thumb to avoid choking while minimizing power. Full article

The article presents an approach to designing a low-orbit remote Earth sensing spacecraft. The low operational orbit of the satellite is maintained using a corrective electric propulsion system. The comprises an optical imaging system based on the Richey-Cretien telescope design augmented with an additional swivel reflection mirror. The optical system’s layout was optimized to minimize the spacecraft’s midsection area. This reduction in the frontal cross-sectional area decreases the aerodynamic drag forces exerted by the upper atmosphere, thereby reducing the propellant mass required for orbit maintenance. The article presents a model of constraints imposed by the satellite’s power supply system on the operating modes of the electric propulsion system and the orbit correction modes. Finally, a preliminary design of a low-orbit satellite, derived from the proposed approach, is presented. Full article

As neuromuscular performance assessment has become a fundamental component of athlete monitoring, ensuring strong measurement reliability is essential for supporting accurate data-driven decision-making. Thus, the purpose of this study was twofold: (i) to examine the reliability of countermovement vertical jump (CMJ) force-time metrics obtained using a portable force plate system (Hawkin Dynamics) and (ii) to determine whether absolute and relative reliability scores differ between well-trained individuals (i.e., athletes) and those less familiar with CMJ force-plate testing (i.e., non-athletes). Seventy-four participants volunteered to take part in this investigation, of whom thirty-nine were NCAA Division-I baseball and track-and-field athletes and thirty-five age-matched non-athletes with no prior CMJ testing experience on force plates. After performing a standardized dynamic warm-up, participants performed three CMJs without arm swing while standing on a dual uniaxial force plate system sampling at 1000 Hz. Each jump trial was separated by a 30 s rest interval. Absolute and relative reliability were assessed using the coefficient of variation (CV) and intraclass correlation coefficient (ICC), respectively. The results revealed that 75% of the variables demonstrated excellent reliability. Specifically, absolute (CV < 10%) and relative (ICC > 0.750) reliability values were good to excellent for most force-time metrics of interest, including braking and propulsive phase duration, peak braking force, average propulsive power, reactive strength index-modified, countermovement depth, and jump height. In contrast, average and peak landing force and inter-limb asymmetry measures during the braking and propulsive phases displayed moderate to good reliability, whereas asymmetry-related variables during the landing phase exhibited poor reliability. In addition, athletes demonstrated lower CV and greater ICC across most metrics compared to non-athletes. Full article

The increasing power density of Unmanned Aerial Vehicles (UAVs) has intensified the need for the efficient thermal management of their propulsion and electronic subsystems. This paper presents a systematic multi-fidelity methodology for the design and validation of a ducted forced convection cooling system for a Class-I mini-UAV. The approach combines analytical sizing and computational fluid dynamic (CFD) analyses. In the preliminary design phase, a surrogate-based optimization (SBO) framework was implemented to determine the optimal geometric characteristics of a NACA-type inlet duct, enabling the efficient exploration of the design space using a limited number of CFD simulations. SBO employed a Kriging surrogate model trained on a Design of Experiments (DoE) dataset to capture nonlinear interactions between duct geometry and performance metrics such as pressure recovery, total-pressure loss, and outlet flow uniformity. The optimized configuration was then refined and validated through detailed external and internal CFD studies under representative flight conditions. The optimized NACA duct configuration achieved an average increase of 10.5% in volume flow rate (VFR) and a 9.5% reduction in velocity distortion while maintaining a drag penalty below 1% compared to the benchmark Frick’s NACA duct. The presented methodology demonstrates that the early integration of surrogate-based optimization in UAV inlet design can significantly improve aerodynamic and thermal performance. Full article

A parallel-type vector thruster was designed, and its dynamic performance was systematically investigated using a combination of mechanical structural analysis, numerical calculations, and experimental methods. First, a thrust model of the vector thruster was established, and its mechanical structural characteristics were analyzed. Subsequently, the governing equations were discretized and solved using computational fluid dynamics (CFD), and a numerical model of the thruster’s viscous flow field at different inclination angles was established based on the moving reference frame (MRF) method. Furthermore, the structural forces, wake effects, and hydrodynamic performance of the thruster under different rotational speeds and inclination angles were analyzed using the control variable method. Finally, the thrust performance was tested using an underwater dynamic test rig, and the experimental results were compared and analyzed with the theoretical calculations. The results suggest that as the propeller’s inclination angle increases, the low-pressure region on the thruster tends to expand, which appears to intensify cavitation and vortex phenomena and leads to a more uneven wake distribution. These effects are correlated with a reduction in propulsion efficiency, which was observed to increase nonlinearly with rotational speed, potentially influencing the thruster’s operational performance. The study elucidates the influence mechanism of steering mechanism stiffness on the propulsion characteristics of spatially moving propellers, providing a foundation for future model-based control design in vector thrust systems. Full article

This paper proposes a novel optimization framework for Magnetic Gear Compound Machines (MGCMs) that integrates parameter grouping and surrogate modeling to address challenges of high-dimensional design spaces and conflicting objectives. The core methodological contribution is a new parameter grouping strategy employing sensitivity analysis and partial correlation coefficients, which systematically classifies design parameters into high-, medium-, and low-impact groups. This approach achieves a 60% reduction in optimization dimensionality while preserving essential electromagnetic relationships. Latin Hypercube Sampling (LHS) is coupled with high-fidelity Maxwell 2D transient simulations to construct an accurate Kriging surrogate model, which is then integrated with the NSGA-III algorithm for efficient Pareto front identification. Comprehensive simulations demonstrate the framework’s exceptional performance. The sensitivity-based optimized design achieves an 85.5% reduction in inner rotor torque ripple (0.091), maintains 90.3% of the original torque output (475.100 N·m), and preserves 94.8% of the induced electromotive force (399.578 V), yielding an optimal objective function value of −0.901 that indicates superior overall performance improvement. In comparison, the correlation-based approach provides an 84.5% torque ripple reduction (0.097) with 97.7% torque retention (514.166 N·m) and 86.0% voltage preservation (362.739 V), corresponding to an objective function value of −0.841. Both grouping strategies significantly reduce computational cost by approximately 60% compared to conventional single-stage optimization methods. This research establishes an effective optimization paradigm for MGCMs, successfully resolving the fundamental trade-off between power density maximization and operational stability, with promising applications in electric propulsion and renewable energy systems. Full article

Background/Objectives: The study explored differences in gait characteristics and biomechanics according to rehabilitation aid use (normal gait (NG) vs. assisted gait (AG) groups) and obstacle height (0, 5, and 15 cm conditions) in patients with stroke-induced foot drop. Methods: A longitudinal study, within-subjects, repeated-measures study was conducted in 10 patients with mild foot drop. Participants walked at their preferred speed on a 10-m indoor track while crossing obstacles of three heights (0, 5, and 15 cm) under two gait conditions (normal walking (NG) and assisted walking (AG). The order of gait conditions and obstacle heights was randomized clinical within participants. Synchronized 3D motion capture with force plate measurements was used to calculate spatiotemporal variables, including ground reaction force (GRF), lower extremity joint angles at heel contact (HC), and toe-off (TO). A two-way repeated-measures ANOVA was used to examine the main effects and interaction effects of gait condition (NG vs. AG) and obstacle height (0, 5, and 15 cm). Results: AG showed little change in gait pattern, while there was a significant interaction between height and group. The vertical GRF (Fz) was lower in AG than NG at 5 cm, indicating reduced initial impact. There was a significant interaction for right medial–lateral (ML) GRF, with AG showing a small ML directional GRF over low obstacles (0–5 cm). At HC, AG was associated with an increase in right ankle dorsiflexion and right knee flexion. AG led to a reduction in left hip angle in the sagittal plane, and a smaller right ankle angle in the frontal plane, suppressing ML sway. At TO, AG caused an increase in right knee flexion, and bilateral ankle angles in the frontal plane at 5 cm. Conclusions: Rehabilitation aids reduced impact at initial contact, enhanced frontal plane stability, improved knee flexion and ankle alignment during the propulsion transition phase, and contributed to reduced variability and improved gait stability. The findings suggest potential utility for public health implications ambulation over curbs and thresholds, warranting larger, adequately powered clinical outcome trials. Full article

Satellite hovering missions involve an active propulsion phase for precise maneuvering and a subsequent passive dynamics phase wherein the satellite responds to external forces, such as from a manipulator. Therefore, a ground-testing method capable of seamlessly integrating these operational regimes is required. This paper presents a novel methodology that leverages the symmetry between active wheel-driven control and passive air-bearing dynamics to establish a unified testing platform. A mathematical model is established for the dual independent steering-wheel drive system, and an error model for tracking both the translational (position) trajectory and the rotational (attitude) trajectory of the satellite during hovering is derived. Based on this, a Model Predictive Control (MPC) scheme is designed to generate optimal driving speeds and steering angles for the wheels, ensuring accurate trajectory tracking while explicitly adhering to their driving and steering constraints. Furthermore, our work involves the integrated design of a gravity-compensated platform and its steering wheels, incorporating design methods to enhance air-bearing safety and a seamless switching method to maintain test continuity by minimizing transient disturbances. Experiments demonstrate that this integrated platform delivers both high-precision satellite trajectory tracking and high-fidelity passive air-bearing micro-gravity simulation for the active and passive phases of a satellite hovering mission. Full article

Background/Objectives: Functional flat foot (FF) is associated with altered lower limb biomechanics, leading to inefficient load transfer and potential overuse injuries. Customized orthoses, such as 3D-printed insoles and toe spreaders, may mitigate these deficits, but their combined biomechanical and neuromuscular effects remain unclear. The current study investigated the immediate effects of 3D-printed arch support insoles (SI) and toe spreaders (Toe) and their combination (SI+Toe) on gait pattern, center of force (COF), ankle alignment, and lower limb muscle activation in young adults with FF. Methods: Ten FF individuals and ten matched controls performed level walking under four randomized conditions: shoe-only, SI, Toe, and SI+Toe. Gait was analyzed using OptoGait, COF trajectory via F-Scan, ankle angles using Kinovea, and muscle activity (semitendinosus, biceps femoris, tibialis anterior, peroneus longus, gastrocnemius, and soleus) via surface EMG. Results: Compared to controls, FF individuals exhibited medial COF deviation, increased ankle eversion, and altered muscle activity. In the FF group, SI+Toe reduced medial COF deviation, decreased eversion, and prolonged foot flat while shortening the propulsive phase. Semitendinosus and tibialis anterior activity increased under SI+Toe, while gastrocnemius and soleus remained reduced during propulsion. Conclusions: The combined utilization of 3D-printed insoles and toe spreaders produced immediate measurable improvements in foot alignment and muscle activity patterns in FF individuals. These findings support that integrating customized orthotic designs with toe spreader elements may provide a practical, non-invasive approach for improving lower limb biomechanics. Such strategies may help improve foot mechanics and reduce compensatory muscle activation in a clinical setting. Full article

To address the challenges of low efficiency and high damage rates in dryland safflower harvesting, a roller-brush type harvesting device was developed. The design was developed following a detailed analysis of the spatial distribution and mechanical characteristics of safflower plants. The pose adjustment process begins with helical grooves clamping and contacting the plant stem. The propulsion action of the helix then forces the stem to undergo a predetermined deflection displacement. The optimal picking pose occurs when the plant’s longitudinal axis is perpendicular to the rotational axis of the picking roller brush. In this position, the picking roller brush shears the filaments at the necking zone through gentle contact with the fruit balls. This mechanism transforms the traditional pull-off separation into a low-damage shear-separation mode. The Box–Behnken test was designed to find the optimal combination of parameters for picking: picking roller brush speed of 282.5 r/min, roller brush spacing of 3.7 mm, and brush bristle diameter of 0.1 mm. Verification tests showed the picking, damage and fruit injury rates were 92.4%, 7.1% and 1.2%, respectively, with standard deviations of 5.42%, 0.51%, and 0.08%. The harvesting efficiency reached 0.053 hm²/h, 8.48 to 12.01 times higher than manual harvesting. Full article

Deep-sea submersibles, often featuring a symmetrical design for hydrodynamic stability, operate as safety-critical systems in extreme environments, where the tight dynamic coupling between subsystems like hydraulics and propulsion creates complex failure modes that are challenging to diagnose. A localized fault in one system can propagate, inducing anomalous behavior in another and confounding conventional single-system monitoring approaches. This paper introduces a novel unsupervised anomaly detection framework, the Dual-Stream Coupled Autoencoder (DSC-AE), designed specifically to address this cross-system fault challenge. Our approach leverages a dual-encoder, single-decoder architecture that explicitly models the normal coupling relationship between the hydraulic and propulsion systems by forcing them into a shared latent representation. This architectural design establishes a holistic and accurate baseline of healthy, system-wide operation. Any deviation from this learned coupling manifold is robustly identified as an anomaly. We validate our model using real-world operational data from the deep-sea submersible, including curated test cases of intra-system and inter-system faults. Furthermore, we demonstrate that the proposed framework offers crucial diagnostic interpretability; by analyzing the model’s reconstruction error heatmaps, it is possible to trace fault origins and their subsequent propagation pathways, providing intuitive and actionable decision support for submersible operation and maintenance. This powerful diagnostic capability is substantiated by superior quantitative performance, where the DSC-AE significantly outperforms baseline methods in detecting propagated faults, achieving higher accuracy and recall, among other performance metrics. Full article

The high-speed maglev train employs linear induction motors for propulsion and incorporates electromagnetic suspension for levitation. Ensuring the stability of the suspension control is imperative for the effective operation of the maglev train at high speeds, necessitating precise calculation of the suspension force. The commonly employed models, while simple in structure, lack the accuracy needed for high-precision suspension control. This paper conducts finite element analysis to simulate the static suspension conditions of high-speed maglev trains and refines the magnetic force calculation model using the obtained data to minimize computational inaccuracies arising from factors like magnetoresistance effects. The revised model is particularly well-suited for scenarios with significant air gaps and elevated currents, showcasing practical value for engineering applications. Full article

Prediction of the maneuvering performance of autonomous underwater vehicles equipped with pump–jet propulsion remains computationally intensive when relying solely on high-fidelity computational fluid dynamics. To overcome this limitation, a surrogate maneuvering model is developed to achieve comparable accuracy with drastically reduced computational cost. The model is constructed from numerical results obtained using unsteady Reynolds-averaged Navier–Stokes equations with the k–ω shear stress transport turbulence model, and formulated through a Taylor-expansion-based framework. The propulsion and rudder modules are refined to enhance physical representation and efficiency: a conventional open-water-based formulation is adopted to embed the pump–jet propulsive model, incorporating axial flow velocities near the duct inlet for improved thrust prediction; meanwhile, the rudder force model minimizes the number of captive simulations by employing a kinematic approach that compensates for limited datasets. The surrogate model is applied to free-running simulations and validated against high-fidelity computational results. The findings confirm that the proposed framework reproduces the dominant trends of kinematic responses, forces, and moments with high consistency, providing a practical and time-efficient alternative for maneuvering prediction of underwater vehicles equipped with pump–jet propulsion systems. Full article

This study experimentally investigates single-phase forced convection heat transfer and flow characteristics of Al₂O₃-water nanofluids under rotating hypergravity conditions ranging from 1 g to 5.1 g. While nanofluids offer enhanced thermal properties for advanced cooling applications in aerospace and rotating machinery, their performance under hypergravity remains poorly understood. Experiments employed a custom centrifugal test rig with a horizontal test section (D = 2 mm, L = 200 mm) operating at constant heat flux. Alumina nanoparticles (20–30 nm) were dispersed in deionized water at mass fractions of 0.02–0.5 wt%, with stability validated through transmittance measurements over 72 h. Heat transfer coefficients (HTC), Nusselt numbers (Nu), friction factors (f), and pressure drops were measured across Reynolds numbers from 500 to 30,000. Results demonstrate that hypergravity significantly enhances heat transfer, with HTC increasing by up to 40% at 5.1 g compared to 1 g, most pronounced at the transition from 1 g to 1.41 g. This enhancement is attributed to intensified buoyancy-driven secondary flows quantified by increased Grashof numbers and modified particle distribution. Friction factors increased moderately (15–25%) due to Coriolis effects and enhanced viscous dissipation. Optimal performance occurred at 0.5 wt% concentration, effectively balancing thermal enhancement against pumping penalties. Random forest (RF) and eXtreme gradient boosting (XGBoost) achieved R² = 0.9486 and 0.9625 in predicting HTC, respectively, outperforming traditional correlations (Gnielinski: R² = 0.9124). These findings provide crucial design guidelines for thermal management systems in hypergravity environments, particularly for aerospace propulsion and centrifugal heat exchangers, where gravitational variations significantly impact cooling performance. Full article