This paper treats the question of control of a biorobotic autonomous undersea vehicle (BAUV) in the yaw plane using a biomimetic mechanism resembling the pectoral fins of fish. These fins are assumed to undergo a combined sway-yaw motion and the bias angle is treated as a control input, which is varied in time to accomplish the maneuver in the yaw-plane. The forces and moments produced by the f...

A path tracking controller based on front wheel steering angle and additional yaw moment control is designed to achieve safe obstacle avoidance of distributed drive electric vehicles. Using sixth-degree polynomial at a given time with anti-collision anti-rollover conditions, the planning proposed. The are output by Model Predictive Control (MPC) controller. torque distribution Through vertical ...

Introduction: The present study aimed to generate intensity-modulated beams with Aluminium compensating filters for a conventional telecobalt machine based on the outputs of a treatment planning system (TPS) performing forward planning and cannot simulate directly the compensating filter. Materials and Methods: In order to achieve the beam intensity modulation during treatment planning with th...

In order to solve the problem of vehicle stability control after a single-wheel brake failure in brake-by-wire system, strategy braking force redistribution with yaw moment is proposed ensure efficiency and vehicles. this strategy, two-layer architecture adopted. upper layer control, fault factor introduced represent real-time degree wheel, driver’s intention perceived through pedal travel spee...

As wind turbine diameters continue to increase, the cyclic loading experienced by blade due shear and yaw misalignment increases dramatically hindering development of larger more efficient turbines. Based on current literature, controlling a section trailing edge was found reduce loading. To quantify load control capability flap (TEF), an experimental rig designed evaluate TEF 3.5-m-diam operat...

Aiming at the lateral stability control problem of distributed driven electric vehicles under high speed steering condition, a hierarchical algorithm direct yaw moment is designed. The upper takes 2-DOF vehicle model as reference and uses sliding mode to obtain required by tracking desired velocity side-slip angle. lower optimizes distribution four wheel torque with minimum tire utilization rat...

Abstract. The power generation and loading dynamic responses of a 2.2 m diameter horizontal axis wind turbine (HAWT) under some the IEC 61400-1 transient extreme operational conditions, more specifically shears (EWSs) gust (EOG), that were reproduced at WindEEE Dome Western University investigated. global forces measured by multi-axis force balance HAWT tower base. unsteady shear induced signif...

Abstract. This work demonstrates the feasibility of an individual pitch control strategy based on nacelle yaw misalignment measurements to mitigate platform drift in upwind floating offshore wind turbines, which is caused by vertical moment produced rotor. acts degree freedom, being great importance systems that have low stiffness. Among them, single-point-mooring platforms are one most importa...

l −− > leg length M −− > hip mass m −− > midleg mass gamma −− > slope angle Beta −− > potential shaping angle Hdifference between passive slope angle and actual slope gammaL c −− > Lateral control proportional constant Hin functional conserved quantityL d −− > Lateral control bias constant Hin functional conserved quantityL r −− > Yaw control proportional constant Hin functional conserved quant...