Related papers: Computational Approaches for Modeling Power Consum…
We show how phasing between tandem bioinspired fins flapping at high-stroke amplitudes modulates rear fin thrust production and wake characteristics. Load cell thrust measurements show that the rear fin generates 25% more thrust than the…
A Cyber-physical underwater vehicle is equipped with bio-inspired flapping fins positioned on the sides of the vehicle's main body. The proposed control surfaces are inspired by fish pectoral fins, generating forces and moments that can…
Submerged flapping foils can convert wave energy directly into thrust, which could be potentially utilised for green marine propulsion. This study analyses the wave-induced flapping hydrofoil propulsion using an in-house developed, new…
Ocean sampling for highly temporal phenomena, such as harmful algal blooms, necessitates a vehicle capable of fast aerial travel interspersed with an aquatic means of acquiring in-situ measurements. Vehicle platforms with this capability…
Recent theoretical and experimental investigations have revealed that flapping compliant membrane wings can significantly enhance propulsive performance (e.g. Tzezana and Breuer, 2019, J. Fluid Mech., 862, 871-888) and energy harvesting…
This paper proposes a generalised propulsion energy consumption model (PECM) for rotary-wing ummanned aerial vehicles (UAVs) under the consideration of the practical thrust-to-weight ratio (TWR) with respect to the velocity, acceleration…
Models that balance accuracy against computational costs are advantageous when designing wind turbines with optimization studies, as several hundred predictive function evaluations might be necessary to identify the optimal solution. We…
To reduce carbon emissions and minimize shipping costs, improving the fuel efficiency of ships is crucial. Various measures are taken to reduce the total fuel consumption of ships, including optimizing vessel parameters and selecting routes…
This contribution describes the implementation of a data--driven shape optimization pipeline in a naval architecture application. We adopt reduced order models (ROMs) in order to improve the efficiency of the overall optimization, keeping a…
Unmanned Aerial Vehicles (UAVs) are increasingly used to enable wireless communications. Due to their characteristics, such as the ability to hover and carry cargo, UAVs can serve as communications nodes, including Wi-Fi Access Points and…
Recently worldwide interest is growing toward commercial, military or scientific Unmanned Surface Vehicle (USV) and hence there is required to develop their guidance, navigation, and control (GNC) systems. Real USVs are a relatively new…
This study presents a real-time guidance strategy for an unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies,…
Autonomous Underwater Vehicles (AUVs) are a highly promising technology for ocean exploration and diverse offshore operations, yet their practical deployment is constrained by energy efficiency and endurance. To address this, we propose…
Biological locomotion, observed in the flexible wings of birds and insects, bodies and fins of aquatic mammals and fishes, consists of their ability to morph the wings/fins. The morphing capability holds significance in the abilities of…
Leveraging background fluid flows for propulsion has the potential to enhance the range and speed of autonomous aerial and underwater vehicles. In this work, we demonstrate experimentally a fully autonomous strategy for exploiting vortex…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
Unmanned Aerial Vehicles (UAVs) are poised to play a central role in revolutionizing future services offered by the envisioned smart cities, thanks to their agility, flexibility, and cost-efficiency. UAVs are being widely deployed in…
This paper investigates the problem of energy-optimal control for autonomous underwater vehicles (AUVs). To improve the endurance of AUVs, we propose a novel energy-optimal control scheme based on the economic model predictive control (MPC)…
To eliminate the effect of ocean currents when addressing the optimal path in the underwater environment, an intelligent algorithm designed for the unmanned underwater vehicle (UUV) is proposed in this paper. The algorithm consists of two…
In this work, we present an aided inertial navigation system for an autonomous underwater vehicle (AUV) using an unscented Kalman filter on manifolds (UKF-M). The inertial navigation estimate is aided by a Doppler velocity log (DVL), depth…