Search Results (334)

This paper proposes a novel hierarchical control architecture that combines Model Predictive Control (MPC) with Explicit Model-Following Control (EMFC) to enable accurate and efficient trajectory tracking for quadrotor electric Vertical Takeoff and Landing (eVTOL) aircraft operating in urban environments. The approach addresses the challenges of strong nonlinear dynamics, multi-axis coupling, and stringent safety constraints by separating the planning task from the fast-response control task. The MPC layer generates constrained velocity and yaw rate commands based on a simplified inertial prediction model, effectively reducing computational complexity while accounting for physical and operational limits. The EMFC layer then compensates for dynamic couplings and ensures the rapid execution of commands. A high-fidelity simulation model, incorporating rotor flapping dynamics, differential collective pitch control, and enhanced aerodynamic interference effects, is developed to validate the controller. Four representative ADS-33E-PRF tasks—Hover, Hovering Turn, Pirouette, and Vertical Maneuver—are simulated. Results demonstrate that the proposed controller achieves accurate trajectory tracking, stable flight performance, and full compliance with ADS-33E-PRF criteria, highlighting its potential for autonomous urban air mobility applications. Full article

This study presents the design, fabrication, and performance assessment of a novel, small-scale (30–70 W), hybrid ocean energy system that captures energy from wave-induced heave motion using a point-absorber buoy and from ocean currents via a vertical axis water turbine (VAWT). Key innovations include a custom designed and built dual-rotor generator that accepts independent mechanical input from both subsystems without requiring complex mechanical coupling and a bi-directional mechanical motion rectifier with an overdrive. Numerical simulations using ANSYS AQWA (2024R2) and QBLADE(2.0.4) guided the design optimization of the buoy and turbine, respectively. Wave resource assessment for the Khobar coastline, Saudi Arabia, was conducted using both historical data and field measurements. The prototype was designed and built using readily available 3D-printed components, ensuring cost-effective construction. This mechanically simple system was tested in both laboratory and outdoor conditions. Results showed reliable operation and stable power generation under simultaneous wave and current input. The performance is comparable to that of existing hybrid ocean wave–current energy converters that employ more complex flywheel or dual degree-of-freedom systems. This work provides a validated pathway for low-cost, compact, and modular hybrid ocean energy systems suited for remote coastal applications or distributed marine sensing platforms. Full article

This paper aims to analyze the performance of a tilt-rotor fixed-wing RPAS (Remotely Piloted Aircraft System) using a segmented approach, focusing on a nominal mission for SAR (Search and Rescue) applications. The study employs optimization techniques tailored to each segment to meet power consumption requirements, and the results highlight the accuracy of the physical characterization, which incorporates nonlinear propulsive and aerodynamic models derived from wind tunnel test campaigns. Critical segments for this nominal mission, such as the vertical take off or the transition from vertical to horizontal flight regimes, are addressed to fully understand the performance response of the aircraft. The proposed framework integrates experimental models into trajectory optimization procedures for each segment, enabling a realistic and modular analysis of energy use and aerodynamic performance. This approach provides valuable insights for both flight control design and future sizing iterations of convertible UAVs (Uncrewed Aerial Vehicles). Full article

As with wind turbines, marine tidal turbines are expected to be deployed in arrays of multiple turbines. To optimize these arrays, a more profound understanding of the interactions between turbines is necessary. This paper employs the Actuator Line Method alongside the Lattice Boltzmann Method and Large Eddy Simulation to develop a numerical model of tidal turbine arrays. It studies a vertical-axis turbine manufactured by HydroQuest/CMN that is equipped with two counter-rotating columns, each comprising two rotors. The ambient turbulence and upstream velocity profiles correspond to the characteristics of a tidal site such as the Alderney Race. Six turbine layouts are modeled: three aligned layouts with three turbines and three staggered layouts with four turbines. The spacing between turbines varies depending on the layout. This study yields several observations regarding array configuration. A minimum distance of 300 m, or $12D_{eq}$, between aligned turbines is necessary for full wake recovery. At shorter distances, the accumulation of velocity deficits significantly decreases the efficiency of the third turbine in the array. Pairs of counter-rotating vortices are observed in the wake of turbines. The evolution of these vortices and their influence on the wake depend greatly on the array configuration. An optimal configuration is observed in which the overall averaged power is not impaired by the interactions. Full article

In this study, the combined influence of vibration direction, feature selection strategy, and the support vector machine (SVM) kernel on the classification accuracy of unbalance faults was investigated. Experiments were carried out on a Jeffcott rotor test rig at a constant speed and under three operating conditions. The overlapping sliding window method was used for raw sample expansion. Features extracted from time domain signals and from the order and power spectra obtained in the frequency domain were ranked using the Kruskal–Wallis algorithm. Based on the feature-ranking results, the three most discriminative features for each domain–axis combination, as well as all nine most discriminative features for each axis in a hybrid manner, were fed into SVM classifiers with different kernels, and their performance was evaluated using ten-fold cross-validation. Classification using vibration signals in the vertical direction had higher accuracy rates than those using signals in the horizontal direction for the feature sets obtained in the same domains. According to the statistical results, feature set selection had a much greater impact on classification accuracy than SVM kernel choice. Power spectrum-based features allowed higher classification accuracies in all SVM algorithms compared to both the time domain features and the order spectrum-based features for detecting unbalance faults. Increasing the number of features or employing hybrid feature selection did not result in a consistent or significant enhancement in overall classification performance. Selecting the right SVM kernel shapes both the model’s flexibility and its fit to the chosen feature space; when this fit is inadequate, classification accuracy may decrease. Consequently, by selecting the appropriate vibration direction, feature set, and SVM kernel, an improvement of up to 67% in unbalance fault classification accuracy was achieved. Full article

With the evolution of hydroelectric generators toward larger capacity and higher rotational speeds, the significa++nt increase in power density has rendered rotor cooling technology a critical bottleneck restricting performance enhancement. Addressing the need for feasibility verification and thermodynamic characteristic analysis of evaporative cooling applied to rotors, this study innovatively proposes an internal-cooling-based evaporative cooling architecture for rotor windings. By establishing a single-channel experimental platform for a rotor evaporative cooling system, the key parameters of the system circulation flow under varying centrifugal accelerations and thermal loads are obtained, revealing the flow mechanism of the cooling system. The experimental results demonstrate that the novel architecture has outstanding heat dissipation performance. Furthermore, the experimental findings reveal that the flow characteristics of the medium are governed by the coupled effect of centrifugal acceleration and thermal load; the flow rate decreases with increasing centrifugal acceleration and increases with rising thermal load. Centrifugal acceleration reduces frictional losses in the heating pipe, leading to a decrease in the inlet–outlet pressure difference. Through the integration of experimental data with classic formulas, this study refines the friction factor model, with the modified formula showing a discrepancy of −10% to +5% compared with the experimental results. Finally, the experiment was rerun to verify the universality of the modified friction factor. Full article

This study investigates an aerodynamic optimization framework inspired by marine biological morphology, utilizing the sailfish profile as a basis for airfoil configuration. Through Latin hypercube experimental design combined with optimization algorithms, four key geometric variables governing the airfoil’s hydrodynamic characteristics were systematically analyzed. Parametric studies revealed that pivotal factors including installation angle significantly influenced the fluid dynamic performance metrics of lift generation and pressure drag. Response surface methodology was employed to establish predictive models for these critical performance indicators, effectively reducing computational resource consumption and experimental validation costs. The refined bio-inspired configuration demonstrated multi-objective performance improvements compared to the baseline configuration, validating the computational framework’s effectiveness for hydrodynamic profile optimization studies. Furthermore, a coaxial dual-rotor vertical axis turbine configuration was developed, integrating centrifugal and axial-flow energy conversion mechanisms through a shared drivetrain system. The centrifugal rotor component harnessed tidal current kinetic energy while the axial-flow rotor module captured wave-induced potential energy. Transient numerical simulations employing dynamic mesh techniques and user-defined functions within the Fluent environment were conducted to analyze rotor interactions. Results indicated the centrifugal subsystem demonstrated peak hydrodynamic efficiency at a 25° installation angle, whereas the axial-flow module achieves optimal performance at 35° blade orientation. Parametric optimization revealed maximum energy extraction efficiency for the centrifugal rotor occurs at λ = 1.25 tip-speed ratio under Re = 1.3 × 10⁵ flow conditions, while the axial-flow counterpart attained optimal performance at λ = 1.5 with Re = 5.5 × 10⁴. This synergistic configuration demonstrated complementary operational characteristics under marine energy conversion scenarios. Full article

In this paper, the aerodynamic performance of an improved hybrid vertical-axis wind turbine is investigated, and the performance of the hybrid turbine at high tip–speed ratios is significantly enhanced by adding a spoiler at the end of the inner rotor. The improved design increases the average torque coefficient by 7.4% and the peak power coefficient by 32.4%, which effectively solves the problem of power loss due to the negative torque of the inner rotor in the conventional hybrid turbine at high TSR; the spoiler improves the performance of the outer rotor in the wake region by optimizing the airflow distribution, reducing the counter-pressure differential, lowering the inner rotor drag and at the same time attenuating the wake turbulence intensity. The study verifies the validity of the design through 2D CFD simulation, and provides a new idea for the optimization of hybrid wind turbines, which is especially suitable for low wind speed and complex terrain environments, and is of great significance for the promotion of renewable energy technology development. Full article

Unmanned tilt-rotor electric Vertical Take-Off and Landing (eVTOL) aircraft face significant control challenges during the transition from hover to forward flight, particularly when using open-source autopilot systems that rely on open-loop tilt control and static control gains. After the transition, the Total Energy Control System (TECS) becomes active in fixed-wing mode, but its default static gains often fail to correct energy imbalances, resulting in substantial altitude loss. This paper presents the Steepest Descent-based Total Energy Control System (SD-TECS), a real-time adaptive TECS framework that dynamically tunes gains using the steepest descent method to enhance post-transition altitude and airspeed regulation in unmanned tilt-rotor eVTOLs. The proposed method integrates gain adaptation directly into the TECS loop, optimizing control actions based on instantaneous flight states such as altitude and energy-rate errors. This enables improved responsiveness to nonlinear dynamics during the critical post-transition phase. Simulation results demonstrate that the SD-TECS approach significantly improves control performance compared to the default PX4 TECS, achieving a 35.5% reduction in the altitude settling time, a 57.3% improvement in the airspeed settling time, and a 66.1% decrease in the integrated altitude error. These improvements highlight the effectiveness of SD-TECS in enhancing the stability and reliability of unmanned tilt-rotor eVTOLs operating under autonomous control. Full article

The electric vertical take-off and landing fixed-wing (FW-VTOL) unmanned aerial vehicle (UAV) combines the advantages of fixed-wing aircraft and multi-rotor aircraft. Based on the cell discharge characteristics and the power system features, this paper proposes a preliminary design and optimization method suitable for electric FW-VTOL UAVs. The purpose of this method is to improve the design accuracy of electric propulsion systems and overall parameters when dealing with the special power and energy requirements of this type of aircraft. The core of this method involves testing the performance data of the cell inside the battery pack, using small-capacity cells as the basic unit for battery sizing, thereby constructing a power battery performance model. Additionally, it establishes optimization design models for propellers and rotors and develops a brushless DC motor performance model based on a first-order motor model and statistical data, ultimately achieving optimized matching of the propulsion system and completing the preliminary design of the entire aircraft. Using a battery discharge model established based on real cell parameters and test data, the impact of the discharge process on battery performance is evaluated at the cell level, reducing the subjectivity of battery performance evaluation compared to the constant power/energy density method used in traditional battery sizing processes. Furthermore, matching the optimization design of power and propulsion systems effectively improves the accuracy of the preliminary design for FW-VTOL UAVs. A design case of a 30 kg electric FW-VTOL UAV is conducted, along with the completion of flight tests. The design parameters obtained using the proposed method show minimal discrepancies with the actual data from the actual aircraft, confirming the effectiveness of the proposed method. Full article

This study addresses the gap in the experimental validation of the tilt-rotor vertical take-off and landing (VTOL) UAVs by developing a novel prototype that integrates fixed-wing and multi-rotor advantages. A dynamic model based on the “X” quadrotor configuration was established, and Euler parameters were employed to derive the attitude transformation matrix. Structural optimization using hybrid meshing and inertia release methods revealed a maximum deformation of 57.1 mm (2.82% of half-wingspan) and stress concentrations below material limits (379.21 MPa on fasteners). The landing gear was optimized using the unified objective method, and the stress was reduced by 32.63 MPa compared to the pre-optimization stress. Vibration analysis identified hazardous frequencies (11–12 Hz) to avoid resonance. Stable motor speed tracking (±5 RPM) and rolling attitude control (less than 10% error) are achieved using a dual-serial PID control system based on the DSP28377D master. Experimental validation in low-altitude flights confirmed the prototype’s feasibility, though ground effects impacted pitch/yaw performance. This work provides critical experimental data for future tilt-rotor UAV development. Full article

Atmospheric parameter acquisition along the vertical profile of the troposphere across different locations on the Earth is of primary importance in gaining knowledge of the evolution of large-scale meteorological systems and the relative movements of air masses. Normally, this happens thanks to the launch, into the atmosphere, of radiosondes connected to balloons filled with helium gas. However, on a small scale, and in particular geomorphological contexts, different and peculiar meteorological situations may arise, in which the air column in the lower layers can behave differently from normal, giving rise to the so-called thermal inversions. In this work, in a particular sinkhole in the Apulia region, the use of a multi-rotor UAV (Unmanned Aerial Vehicle) equipped with a temperature data logger was tested. The flight along the vertical, starting from the lowest point of the sinkhole, made it possible to archive the temperature data of the air column in the first 80 m of altitude. The data validation confirmed the goodness of the UAV acquisitions and their subsequent processing made it possible to extrapolate the vertical temperature profile of the sinkhole during the winter thermal inversion phenomenon. In addition to confirming the predisposition of this sinkhole to strong thermal inversions, the preliminary results of this work have highlighted the efficiency of this new methodology. It has proved to be useful in assessing small-scale vertical profiles of atmospheric variables in a relatively low altitude range. Furthermore, this methodology can represent a strong scientific and technological innovation applicable in the meteorological field and in that of environmental monitoring. Full article

This study presents the development of an adaptive control system for aerodynamic flaps of a two-tier vertical-axis Savonius wind rotor to improve performance under variable wind loads. The approach includes detailed kinematic and dynamic modeling of the flap actuation mechanism, accounting for real-world nonlinearities such as backlash, friction, and impact loads. The mechanical transmission system is analyzed to evaluate the influence of design parameters on system dynamics and control accuracy. A mathematical model of an adaptive PID controller is proposed, capable of real-time adjustment of gain parameters based on external wind torque. Numerical simulations under various wind conditions demonstrate that adaptive tuning significantly enhances system stability, reduces overshoot, and ensures faster response compared to fixed-parameter controllers. Sensitivity analysis confirms the importance of mass distribution, mechanical stiffness, and damping in minimizing vibrations and ensuring durability. The developed system provides a reliable solution for efficient wind energy conversion in dynamic environments, including urban and coastal applications. Full article

As the utilization of wind energy continues to expand as a prominent renewable energy source, the application of Darrieus Vertical Axis Wind Turbine (VAWT) technology has expanded significantly. Various passive modification methods have been developed to enhance efficiency and optimize the aerodynamic performance of the rotor through blade modifications. This study presents passive modification method utilizing Kline–Fogleman (KF) blades which incorporate step-like horizontal slats along the trailing edge. Through Computational Fluid Dynamics (CFD) simulations, this study evaluates ten distinct KF blade configurations, varying in step length and depth, with steps positioned on the inner side, outer side, and both sides of the airfoil. The results indicate that the KF blade with a shorter step on inner side, 20%$c$ in length and 2%$c$ in depth, enhances the average power coefficient ($C_p$) by 19% compared to the rotor with a clean blade. However, when horizontal slats are incorporated on both sides of the blade, with dimensions of 50%$c$ in length and 5%$c$ in depth, $C_p$ decreases by 33% compared to the clean blade. This reduction occurs across both low and high tip speed ratio (TSR) ranges. It has been observed that the presence of a high-pressure zone of 200 Pa at the trailing edge disrupts the aerodynamic performance when the KF blade is in the upwind region between the azimuth angles of 45° and 135°. Full article

This paper presents a numerical study of the optimization of the geometric parameters of a four-bladed Darrieus vertical-axis wind turbine (VAWT) with a NACA 0021 aerodynamic profile. The aim of the study was to increase the aerodynamic efficiency of the turbine by selecting optimal values of the rotor diameter and blade chord length. The Taguchi method using an orthogonal array was used as an optimization method, which reduced the number of necessary calculations from 77 to 20 while maintaining the reliability of the analysis. CFD modelling was performed in the ANSYS 2022 R2 Fluent software environment based on a two-dimensional non-stationary model, including a full rotor revolution and an analysis of the steady-state mode for the twentieth cycle. As a result of the analysis, the optimal parameters were determined: rotor diameter D = 3 m and chord length c = 0.4 m. Additionally, for the selected configuration, the numerical model was validated by constructing the dependence of the power coefficient Cp on the tip speed ratio λ in the range from 0.2 to 2.8. The maximum value of Cp was 0.35 at λ = 2.2, which is an increase of ~64% compared to the least efficient rotation mode in the considered range of λ. The obtained results allow us to conclude that the Taguchi method can be used in combination with CFD modelling for fast and accurate optimization of the aerodynamic parameters of low-power wind turbines. Full article