Search Results (121)

A small-scale supersonic flight experiment vehicle is being developed at Muroran Institute of Technology as a flying testbed for verification of innovative technologies for high-speed atmospheric flights, which are essential to next-generation aerospace transportation systems. Its baseline configuration M2011 with a cranked-arrow main wing with an inboard and outboard leading edge sweepback angle of 66 and 61 degrees and horizontal and vertical tails has been proposed. Its aerodynamics caused by attitude motion are required to be clarified for six-degree-of-freedom flight capability prediction and autonomous guidance and control. This study concentrates on characterization of such aerodynamics caused by rolling rates in the subsonic regime. A mechanism for rolling a wind-tunnel test model at various rolling rates and arbitrary pitch angle is designed and fabricated using a programmable stepping motor and an equatorial mount. A series of subsonic wind-tunnel tests and preliminary CFD analysis are carried out. The resultant static derivatives have sufficiently small scatter and agree quite well with the static wind-tunnel tests in the case of a small pitch angle, whereas the static directional stability deteriorates in the case of large pitch angles and large nose lengths. In addition, the resultant dynamic derivatives agree well with the CFD analysis and the conventional theory in the case of zero pitch angle, whereas the roll damping deteriorates in the case of large pitch angles and proverse yaw takes place in the case of a large nose length. Full article

This paper addresses inherent limitations in unmanned aerial vehicle (UAV) undercarriages hindering vertical takeoff and landing (VTOL) capabilities on uneven slopes and obstacles. Robotic landing gear (RLG) designs have been proposed to address these limitations; however, existing designs are typically limited to ground slopes of 6–15°, beyond which rollover would happen. Moreover, articulated RLG concepts come with added complexity and weight penalties due to multiple drivetrain components. Previous research has highlighted that even a minor 3-degree slope change can increase the dynamic rollover risks by 40%. Therefore, the design optimization of robotic landing gear for enhanced VTOL capabilities requires a multidisciplinary framework that integrates static analysis, dynamic simulation, and control strategies for operations on complex terrain. This paper presents a novel, hybrid, compliant, belt-driven, three-legged RLG system, supported by a multidisciplinary design optimization (MDO) methodology, aimed at achieving enhanced VTOL capabilities on uneven surfaces and moving platforms like ship decks. The proposed system design utilizes compliant mechanisms featuring a series of three-flexure hinges (3SFH), to reduce the number of articulated drivetrain components and actuators. This results in a lower system weight, improved energy efficiency, and enhanced durability, compared to earlier fully actuated, articulated, four-legged, two-jointed designs. Additionally, the compliant belt-driven actuation mitigates issues such as backlash, wear, and high maintenance, while enabling smoother torque transfer and improved vibration damping relative to earlier three-legged cable-driven four-bar link RLG systems. The use of lightweight yet strong materials—aluminum and titanium—enables the legs to bend 19 and 26.57°, respectively, without failure. An animated simulation of full-contact landing tests, performed using a proportional-derivative (PD) controller and ship deck motion input, validate the performance of the design. Simulations are performed for a VTOL UAV, with two flexible legs made of aluminum, incorporating circular flexure hinges, and a passive third one positioned at the tail. The simulation results confirm stable landings with a 2 s settling time and only 2.29° of overshoot, well within the FAA-recommended maximum roll angle of 2.9°. Compared to the single-revolute (1R) model, the implementation of the optimal 3R Pseudo-Rigid-Body Model (PRBM) further improves accuracy by achieving a maximum tip deflection error of only 1.2%. It is anticipated that the proposed hybrid design would also offer improved durability and ease of maintenance, thereby enhancing functionality and safety in comparison with existing robotic landing gear systems. Full article

In recent years, the twin-barge float-over method has been widely used in offshore installations. This paper conducts numerical simulation and experimental research on the twin-barge float-over installation of offshore wind turbines (TBFOI-OWTs), focusing primarily on seakeeping performance, and also explores the influence of the gap distance on the hydrodynamic behavior of TBFOI-OWTs. Model tests are conducted in the ocean basin at Tsinghua Shenzhen International Graduate School. A physical model with a scale ratio of 1:50 is designed and fabricated, comprising two barges, a truss carriage frame, two small wind turbines, and a spread catenary mooring system. A series of model tests, including free decay tests, regular wave tests, and random wave tests, are carried out to investigate the hydrodynamics of TBFOI-OWTs. The experimental results and the numerical results are in good agreement, thereby validating the accuracy of the numerical simulation method. The motion RAOs of TBFOI-OWTs are small, demonstrating their good seakeeping performance. Compared with the regular wave situation, the surge and sway motions in random waves have greater ranges and amplitudes. This reveals that the mooring analysis cannot depend on regular waves only, and more importantly, that the random nature of realistic waves is less favorable for float-over installations. The responses in random waves are primarily controlled by motions’ natural frequencies and incident wave frequency. It is also revealed that the distance between two barges has a significant influence on the motion RAOs in beam seas. Within a certain range of incident wave periods (10.00 s < T < 15.00 s), increasing the gap distance reduces the sway RAO and roll RAO due to the energy dissipated by the damping pool of the barge gap. For installation safety within an operating window, it is meaningful but challenging to have accurate predictions of the forthcoming motions. For this, this study employs the Whale Optimization Algorithm (WOA) to optimize the Long Short-Term Memory (LSTM) neural network. Both the stepwise iterative model and the direct multi-step model of LSTM achieve a high accuracy of predicted heave motions. This study, to some extent, affirms the feasibility of float-over installation in the offshore wind power industry and provides a useful scheme for short-term predictions of motions. Full article

This study introduces a novel magnetorheological (MR) damper for semi-active vehicle suspension systems that enhance ride comfort and handling stability. The proposed damper integrates reverse and normal damping modes, enabling independent control of rebound and compression strokes through an external MR valve. This configuration supports four damping modes—Soft/Soft, Hard/Soft, Soft/Hard, and Hard/Hard—allowing adaptability to varying driving conditions. Magnetic circuit optimization ensures rapid damping force adjustments (≈10 ms), while a semi-active control algorithm incorporating skyhook logic, roll, dive, and squat control strategies was implemented. Experimental validation on a mid-sized sedan demonstrated significant improvements, including a 30–40% reduction in vertical acceleration and pitch/roll rates. These enhancements improve vehicle safety by reducing body motion during critical maneuvers, potentially lowering accident risk and driver fatigue. In addition to performance gains, the simplified MR damper architecture and modular control facilitate easier integration into diverse vehicle platforms, potentially streamlining vehicle design and manufacturing processes and enabling cost-effective adoption in mass-market applications. These findings highlight the potential of MR dampers to support next-generation vehicle architectures with enhanced adaptability and manufacturability. Full article

Task prioritization for inverse kinematics can be a powerful tool for realizing objectives in robot manipulation. This is particularly true for robots with redundant degrees of freedom, but it can also help address a debilitating singularity in six-axis robots. A roll-pitch-roll wrist is especially problematic for any six-axis robot because it produces a “gimbal-lock” singularity in the middle of the wrist workspace when the roll axes align. A task priority methodology can be used to realize only the achievable components of the commanded motion in the reduced operational space of a manipulator near singularities while phasing out the uncontrollable direction. In addition, this approach allows the operator to prioritize translation and rotation in the region of singularities. This methodology overcomes a significant drawback to the damped least-squares method, which can produce tool motion that deviates significantly from the desired path even in directions that are controllable. The approach used here reduces the operational space near the wrist singularity while maintaining full command authority over tool translation. The methodology is demonstrated in simulations conducted on a six degree-of-freedom Motoman MH250 manipulator. Full article

A numerical investigation of the roll motion characteristics of the Basic Finner Model was performed. The study of roll motion is essential in the design and performance evaluation of aerospace vehicles, particularly for stability and maneuverability purposes. The numerical investigation was conducted employing the Unsteady Reynolds-Averaged Navier-Stokes (URANS) solver coupled with k-ε realizable turbulence model. The simulations were performed for a range of Mach numbers and angles of attack to assess the influence of these parameters on the model’s roll motion characteristics. The CFD procedure was validated based on an experimental database from previous work and the literature. The influence of roll motion on aerodynamic forces and moments at different flow conditions were analyzed to obtain a better understanding of the physics. The variation of forces and moments with roll angle, Mach number, and angle of attack, as well as the pressure distribution at different flow conditions, are discussed, also covering aerodynamic interactions between the fins and body. This numerical investigation contributes to understanding the aerodynamic behavior of the Basic Finner Model during roll motion. The findings are valuable for the design and optimization of aerospace vehicles, aiding in the development of more efficient and stable configurations. Future research can be based upon these results to explore additional factors that may impact roll motion characteristics and can further refine the design and performance evaluation processes for aerospace vehicles. Full article

Magnesium (Mg) alloys have gained much attention for biomedical applications, due to their attractive properties, such as high specific strength, low density, low elasticity modulus, high damping capacity, biodegradation, and relatively good cytocompatibility. However, the biomedical use of Mg alloys also faces several challenges, primarily due to their low corrosion resistance and insufficient strength. Therefore, improving the strength and corrosion resistance of biomedical Mg alloys has become a critical issue. This review briefly summarizes the selection of appropriate alloying elements for biomedical Mg alloys, which is the fundamental factor in determining their microstructure, cytocompatibility, mechanical properties, and corrosion performance. It also discusses typical thermomechanical processing methods, including hot extrusion, hot rolling and hot forging, and examines the influence of deformation mode on microstructure, mechanical properties, and degradation behavior. Specifically, combining different thermomechanical processing methods could be an optimal choice, as it leverages the high efficiency and effectiveness of each method. Finally, the clinical application of biomedical Mg alloys in various fields are summarized and discussed to highlight their potential prospect and corresponding challenges. This review aims to provide insights for the rationale design and development of high-performance biomedical Mg alloys for widespread clinical applications. Full article

In hub-motor electric vehicles (HMEVs), performance is adversely affected by the mechanical-electromagnetic coupling effect arising from deformations of the air gap in the Permanent Magnet Brushless Direct Current Motor (PM BLDC), which are exacerbated by varying road conditions. In this paper, a Model Predictive Control (MPC) strategy for HMEVs equipped with air suspension (AS) is introduced to enhance ride comfort. Firstly, an 18-degree of freedom (DOF) full-vehicle model incorporating unbalanced electromagnetic forces (UEMFs) induced by motor eccentricities is developed and experimentally validated. Additionally, a Minimum Model Error Extended Kalman Filter (MME-EKF) observer is designed to estimate unmeasurable state variables and account for errors resulting from sprung mass variations. To further improve vehicle performance, the MPC optimization objective is formulated by considering the suspension damping force and dynamic displacement constraints, solving for the optimal suspension force within a rolling time domain. Simulation results demonstrate that the proposed MPC approach significantly improves ride comfort, effectively mitigates coupling effects in hub driving motors, and ensures that suspension dynamic stroke adheres to safety criteria. Comparative analyses indicate that the MPC controller outperforms conventional PID control, achieving substantial reductions of approximately 41.59% in sprung mass vertical acceleration, 14.29% in motor eccentricity, 1.78% in tire dynamic load, 17.65% in roll angular acceleration, and 16.67% in pitch angular acceleration. Full article

Predicting the roll damping coefficient of a ship is a crucial factor in determining the dynamic stability of the vessel. However, a nonlinear analysis that considers the viscosity of the fluid is required to accurately estimate the roll damping coefficient. This study numerically analyzed the hydrodynamic coefficients related to the roll motion of ships, focusing on the eddy-making damping coefficient. A series of forced vibration tests were conducted on a two-dimensional triangular cylinder floating on the water surface. The overset method and the volume-of-fluid method were applied, and the governing equations were solved using the open-source software OpenFOAM v2106. Uncertainties in the grid size and time intervals were identified through the International Towing Tank Conference (ITTC) procedure, and the obtained hydrodynamic coefficients were compared with available experimental data and potential flow results. Additionally, eddy-making damping was extracted from the shed vortex for various excitation frequencies and amplitudes. The study found that the uncertainty in the roll damping coefficient was less than 8%, with eddy-making damping being the dominant factor influencing the results. Numerical results showed a good agreement with experimental data, with an average deviation of 4.4%, highlighting the importance of considering nonlinear effects at higher excitation amplitudes. Comparison with experimental data and empirical formulas revealed that the nonlinearity due to the excitation amplitude must be considered in empirical formulations. Full article

This paper describes an integrated control strategy that utilizes semi-active suspension and differential braking to enhance lateral stability while maintaining roll performance. The integrated control architecture adopts a hierarchical structure consisting of an estimator, a supervisor, a controller, and an allocator. In the estimation layer, an algorithm is proposed to robustly estimate the side slip angle and roll angle in various situations. The control mode is established by the supervision layer based on the state of the vehicle. The maneuverability mode tracks the driver’s intentions, and the lateral stability mode ensures the vehicle’s stability. Reference values such as yaw rate and roll angle are determined by the control mode. In the controller layer, the yaw and roll moments are generated using sliding mode control to achieve the target yaw rate and roll angle. Brake torque and suspension damping force are distributed to each wheel in the allocator layer. In particular, a damping distribution method based on the roll region index is proposed. The proposed method is compared with conventional methods, such as full stiff damping and yaw-assisted damping, through simulation and real-world evaluation. The tests demonstrate that the proposed approach enhances lateral and roll stability, particularly regarding maximum side slip and roll angle values. The roll-region-index-based distribution method reduces the maximum roll angle by about 17.4% and the maximum side slip angle by about 8.7% compared to each conventional method. Compared to conventional methods, the proposed method showed more stable driving performance by ensuring stability in both directions in extreme lane change situations. Full article

Self-excited systems rely on stable external stimuli to initiate and sustain oscillations via internal processes. However, these oscillations can compromise system stability and increase friction, limiting their practical applications. To overcome this issue, we propose the light-fueled stable self-rolling of a liquid crystal elastomer (LCE)-based wheel. A photothermal response model based on an LCE was used to analyze the temperature distribution within the LCE rods. The driving torque for self-rolling is generated by the contraction resulting from the LCE’s photothermal response, which displaces the wheel’s center of mass. We then derived the equilibrium equations and identified the critical conditions for achieving stable self-rolling motion. Through the interaction between the temperature field and driving torque, the wheel achieves continuous and stable self-rolling by absorbing thermal energy to counteract damping dissipation. Numerical simulations revealed that the stable self-rolling velocity is influenced by several key parameters, including heat flux, the contraction coefficient, gravitational acceleration, the initial damping torque, and the rolling damping coefficient. The proposed LCE-based wheel enhances system stability and significantly reduces frictional losses. These characteristics make it a promising candidate for applications in autonomous drive systems, micro-transportation devices, and photothermal energy conversion technologies. Full article

The movement of a wheeled vehicle is a non-regular dynamic process characterized by a large number of states that depend on the movement conditions. This movement involves a large number of situations where elastic tires skid and slip against the base surface. This reduces the efficiency of movement as useful mechanical energy of the electromechanical drive is spent to overcome the increased skidding and slipping. Complete sliding results in the loss of control over the vehicle, which is unsafe. Processes that take place immediately before such phenomena are of special interest as their parameters can be useful in diagnostics and control. Additionally, such situations involve adverse oscillatory processes that cause additional dynamic mechanical and electrical loading in the electromechanical drive that can result in its failure. The authors provide the results of laboratory road research into the emergence of self-oscillatory phenomena during the rolling of a wheel with increased skidding on the base surface and a low traction factor. This paper reviews the methods of designing an anti-slip control system for wheels with an oscillation damping function and studies the applicability and efficiency of the suggested method using mathematical simulation of the virtual vehicle operation in the Matlab Simulink software package. Using the self-oscillation suppression algorithm in the control system helps reduce the maximum amplitude values by 5 times and average amplitudes by 2.5 times while preventing the moment operator from changing. The maximum values of current oscillation amplitude during algorithm changes were reduced by 2.5 times, while the current change rate was reduced by 3 times. The reduction in the current-change amplitude and rate proves the efficiency of the self-oscillation suppression algorithm. The high change rate of the current consumed by the drive’s inverters may have a negative impact on the remaining operating life of the rechargeable electric power storage system. This impact increases with the proximity of its location due to the low inductance of the connecting lines and the operating parameters, and the useful life of the components of the autonomous voltage inverters. Full article

Combustion instability is one of the prominent and unavoidable problems in the design of high-performance propulsion systems. This study investigates the heat release rate (HRR) responses in a triple-nozzle swirling nonpremixed combustor under various thermoacoustic self-excited instability modes. Dynamic pressure sensors and high-speed imaging were employed to capture the pressure oscillations within the combustion chamber and the characteristics of flame dynamics, respectively. The results reveal nonlinear bifurcations in the self-excited thermoacoustic instabilities at different equivalence ratios. Significant differences in flame dynamics were observed across the instability modes. In lower frequency modes, the fluctuations in flame length contribute to the driving force of thermoacoustic instability. In relatively high-frequency modes, HRR fluctuations are dominated by the rolling up and convective processes of wrinkles on the flame surface. Alternating regions of gain and damping are observed on the flame surface. At even higher frequencies, both aforementioned HRR fluctuation patterns are simultaneously observed. These findings provide a deeper understanding of the complex interactions between flame dynamics and thermoacoustic instabilities, offering new insights into the design and optimization of nonpremixed combustion systems. The study underscores the importance of considering the spatial and temporal variations in flame behavior to effectively predict and control thermoacoustic instabilities. Full article

Aiming at the problem of lateral deviation of large-scale long-endurance solar-powered UAVs relative to the runway during takeoff or landing, a UAV ground motion control structure based on the combination of engine differential and rudder was proposed. According to the structural characteristics of large-scale long-endurance solar-powered UAVs, a ground motion model of a three-point layout UAV including landing gear was established, and the ground rolling dynamics and modal characteristics were analyzed. In order to accurately correct the trajectory error, the outer loop designs a trajectory correction control law and gives the inner loop desired control instructions. In order to solve the problem of environmental disturbance and small heading damping, the inner loop adopts the adaptive back-stepping control method. The disturbance signal is estimated through the adaptive law and compensated into the control system to achieve balanced control of speed and rolling correction. Finally, medium-speed and high-speed sliding tests were designed to verify the rationality of the proposed control scheme and control structure, as well as the efficiency of the control law design method adopted. Full article

This paper presents a method to design an active suspension controller for 8 × 8 armored combat vehicles, which is called corner damping control (CDC). It is assumed that the target vehicle with 8 × 8 drive mechanisms and 8 suspensions has active actuators on each suspension for vertical, roll and pitch motion control on a sprung mass. A state-space model with 22 state variables is derived from the target vehicle. With the state-space model, a linear quadratic (LQ) cost function is defined. The control objective is to reduce the vertical acceleration, pitch and roll angles of a sprung mass for ride comfort, durability and turret stabilization. To avoid full-state feedback of LQR, a static output feedback control (SOF) is selected as a control structure for CDC. The vertical velocity, roll and pitch rates of a sprung mass, and vertical velocities at each corner, are selected as a sensor output. With those sensor outputs and LQ cost function, four LQ SOF controllers are designed. To validate the effectiveness of the LQ SOF controllers, simulation is carried out on a vehicle simulation package. From the simulation results, it is shown that the proposed CDC with LQ SOF controllers with a much smaller number of sensor outputs and controller gains can reduce the vertical acceleration, pitch and roll angles of a sprung mass and, as a result, improve ride comfort, durability and turret stabilization. Full article