Related papers: Nonlinear Unsteady Vortex-Lattice Vortex-Particle …
We present a low-order modeling technique for actuated flows based on the regularization of an inverse problem. The inverse problem aims at minimizing the error between the model predictions and some reference simulations. The parameters to…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
In this paper, the wave-particle turbulent simulation (WPTS), a recently developed multiscale, non-equilibrium turbulence modeling approach, is coupled with a turbulence characteristic-time closure derived from Prandtl mixing-length…
Uncertainty propagation in high-dimensional nonlinear dynamic structural systems is pivotal in state-of-the-art performance-based design and risk assessment, where uncertainties from both excitations and structures, i.e., the aleatoric…
To design and optimize arrays of vertical-axis wind turbines (VAWTs) for maximal power density and minimal wake losses, a careful consideration of the inherently three-dimensional structure of the wakes of these turbines in real operating…
In order to shed light on the Vertical-Axis Wind Turbines (VAWT) wake characteristics, in this paper we present high-fidelity CFD simulations of the flow around an exemplary H-shaped VAWT turbine, and we propose to apply Proper Orthogonal…
Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications. Non-smooth obstacle shapes, such as rectangles, introduce…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…
In this paper, the finite volume lattice Boltzmann method (FVLBM) on unstructured grid presented in Part I of this paper is extended to simulate the turbulent flows. To model the turbulent effect, the $k-\omega$ SST turbulence model is…
Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on…
The accurate treatment of outflow boundary conditions remains a critical challenge in computational fluid dynamics when predicting aerodynamic forces and/or acoustic emissions. This is particularly evident when employing the lattice…
This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It…
We propose the Vortex Particle Flow Map (VPFM) method to simulate incompressible flow with complex vortical evolution in the presence of dynamic solid boundaries. The core insight of our approach is that vorticity is an ideal quantity for…
In transonic turbine stages, complex interactions between trailing edge shocks from nozzle guide vanes and rotor blades generate unsteady wall pressure fields, impacting rotor aerodynamic performance and structural integrity. While…