Search results for: landing kinematics

Authors: Temiloluwa J. Akinyemi, Denis W. Aheto, Wisdom Akpalu

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Capture fisheries in developing countries provide significant animal protein and directly supports the livelihoods of several communities. However, the misperception of biophysical dynamics owing to a lack of adequate scientific data has contributed to the suboptimal management in marine capture fisheries. This is because yield and catch potentials are sensitive to the quality of catch and effort data. Yet, studies on fisheries data collection practices in developing countries are hard to find. This study investigates the data collection methods utilized by fisheries technical officers within the four fishing regions of Ghana. We found that the officers employed data collection and sampling procedures which were not consistent with the technical guidelines curated by FAO. For example, 50 instead of 166 landing sites were sampled, while 290 instead of 372 canoes were sampled. We argue that such sampling errors could result in the over-capitalization of capture fish stocks and significant losses in resource rents.

Keywords: Fisheries data quality, fisheries management, Ghana, Sustainable Fisheries

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Authors: Shaukat Ali, Kanber Sedef, Mustafa Yilmaz

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This work analyzes a finger mechanism for a prosthetic hand that will help in improving the living standards of people who have lost their hands for a variety of reasons. The finger mechanism is single degree of freedom and hence has advantages such as compact size, reduced mass and less energy consumption. The proposed finger mechanism is a six bar linkage actuated by a single motor. The kinematic, static and dynamic analyses have been done by using the conventional methods of mechanism analysis. The kinematic results present the motion of the proposed finger mechanism and location of the fingertip. The static and dynamic analyses provide the useful information about the gripping force at the fingertip for various configurations and the selection of motor that will move the finger over its range of configuration. This single motor finger mechanism is simple and resembles the human finger’s motion suitable for grasping operation. This study can be used in the optimization of geometrical parameters of the proposed mechanism to obtain the desired configurations with minimum torque and enhanced griping.

Keywords: dynamics, finger mechanism, grasping, kinematics

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Authors: Samira Khalil, Adib Saad, Malek Ali

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The aim of this research is to determine fish species belonging to the order Pleuronectiforme fish found in Syrian marine water confirm or deny the continuity of the previously registered species, and record the unregistered species that appeared during this research for the first time. The research was carried out in the Laboratory of Marine Sciences, Faculty of Agriculture (Tishreen University); fish samples were collected periodically (bi-monthly) from fishermen in landing areas along the Syrian coast caught from depths (3m to 700m), using various mediums. An appropriate hand is available to fishermen on the Syrian coast (cliff bottom, fixed nets, enclosure nets, shelf nest, and manual disposal network; 451 individuals were captured and studied during the research period. During this study, it was found that the Syrian water includes 15 species, including one species recorded for the first time. On the eastern coast of the Mediterranean, it is Pegusa impar.

Keywords: pleuronectiformes, Syrian coast, flatfish, mediterranean

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Authors: Ayesha Imtiaz, Darlina Md. Naim

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Family Nemipteridae is among the most abundantly distributed family in Malaysian fish markets due to its high contribution to landing sites of Malaysia. Using an advanced molecular approach that used two mitochondrial (Cytochrome oxidase c I and Cytochrome oxidase b) and one nuclear gene (Recombination activating gene, RAGI) to expose cryptic diversity and phylogenetic relationships among commercially important species of family Nemipteridae. Our research covered all genera (including 31 species out total 45 species) of family Nemipteridae, distributed in Malaysia. We also found certain type of geographical barriers in the South China sea that reduces dispersal and stops a few species to intermix. Northside of the South China Sea (near Vietnam) does not allow genetic diversity to mix with the Southern side of the South China sea (Sarawak) and reduces dispersal. Straits of Malacca reduce the intermixing genetic diversity of South China Sea and the Indian Ocean.

Keywords: Nemipteridae, RAG I, south east Asia, Malaysia

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Authors: Feri̇t Çakici, M. Kemal Leblebi̇ci̇oğlu

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In this study, an unmanned aerial vehicle (UAV) with level flight, vertical take-off and landing (VTOL) and mode-transitioning capability is designed and analyzed. The platform design combines both multirotor and fixed-wing (FW) conventional airplane structures and control surfaces; therefore named as VTOL-FW. The aircraft is modeled using aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. The proposed method of control includes implementation of multirotor and airplane mode controllers and design of an algorithm to transition between modes in achieving smooth switching maneuvers between VTOL and FW flight. Thus, VTOL-FW UAV’s flight characteristics are expected to be improved by enlarging operational flight envelope through enabling mode-transitioning, agile maneuvers and increasing survivability. Experiments conducted in simulation and real world environments shows that VTOL-FW UAV has both multirotor and airplane characteristics with extra benefits in an enlarged flight envelope.

Keywords: aircraft design, linear analysis, mode transitioning control, UAV

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Authors: Adrian Sauer, Lorenz Einberger, Florian Hilpert

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The advancements and technical innovations in the field of electric unmanned aviation over the past years opened the third dimension in areas like surveillance, logistics, and mobility for a wide range of private and commercial users. Researchers and companies are faced with the task of integrating their technology into airborne platforms. Especially start-ups and researchers require unmanned aerial vehicles (UAV), which can be quickly developed for specific use cases without spending significant time and money. This paper shows a design approach for the rapid development of a lightweight automatic separate-lift-thrust (SLT) electric vertical take-off and landing (eVTOL) UAV prototype, which is able to fulfill basic transportation as well as surveillance missions. The design approach does not require expensive or time-consuming design loop software. Thereby developers can easily understand, adapt, and adjust the presented method for their own project. The approach is mainly focused on crucial design aspects such as aerofoil, tuning, and powertrain.

Keywords: aerofoil, drones, rapid prototyping, powertrain

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Authors: Noor Farizah Ibrahim, Christopher Durugbo

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This study aims to investigate how the Twittersphere reacted during the recent historical event of robotic landing on a comet. The news is about Philae, a robotic lander from European Space Agency (ESA), which successfully made the first-ever rendezvous and touchdown of its kind on a nucleus comet on November 12, 2014. In order to understand how Twitter is practically used in spreading messages on historical events, we conducted an analysis of one-week tweet feeds that contain the #CometLanding hashtag. We studied the trends of tweets, the diffusion of the information and the characteristics of the social network created. The results indicated that the use of Twitter as a platform enables online communities to engage and spread the historical event through social media network (e.g. tweets, retweets, mentions and replies). In addition, it was found that comprehensible and understandable hashtags could influence users to follow the same tweet stream compared to other laborious hashtags which were difficult to understand by users in online communities.

Keywords: diffusion of information, hashtag, social media, Twitter

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Authors: Dorian Audot, Isobel Margaret Thompson, Dominic Hudson, Joseph Banks, Martin Warner

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In competitive swimming, after dives and turns, athletes perform underwater undulatory swimming (UUS), copying marine mammals’ method of locomotion. The body, performing this wave-like motion, accelerates the fluid downstream in its vicinity, generating propulsion with minimal resistance. Through this technique, swimmers can maintain greater speeds than surface swimming and take advantage of the overspeed granted by the dive (or push-off). Almost all previous work has considered UUS when performed at maximum effort. Critical parameters to maximize UUS speed are frequently discussed; however, this does not apply to most races. In only 3 out of the 16 individual competitive swimming events are athletes likely to attempt to perform UUS with the greatest speed, without thinking of the cost of locomotion. In the other cases, athletes will want to control the speed of their underwater swimming, attempting to maximise speed whilst considering energy expenditure appropriate to the duration of the event. Hence, there is a need to understand how swimmers adapt their underwater strategies to optimize the speed within the allocated energetic cost. This paper develops a consistent methodology that enables different sets of UUS kinematics to be investigated. These may have different propulsive efficiencies and force generation mechanisms (e.g.: force distribution along with the body and force magnitude). The developed methodology, therefore, needs to: (i) provide an understanding of the UUS propulsive mechanisms at different speeds, (ii) investigate the key performance parameters when UUS is not performed solely for maximizing speed; (iii) consistently determine the propulsive efficiency of a UUS technique. The methodology is separated into two distinct parts: kinematic data acquisition and computational fluid dynamics (CFD) analysis. For the kinematic acquisition, the position of several joints along the body and their sequencing were either obtained by video digitization or by underwater motion capture (Qualisys system). During data acquisition, the swimmers were asked to perform UUS at a constant depth in a prone position (facing the bottom of the pool) at different speeds: maximum effort, 100m pace, 200m pace and 400m pace. The kinematic data were input to a CFD algorithm employing a two-dimensional Large Eddy Simulation (LES). The algorithm adopted was specifically developed in order to perform quick unsteady simulations of deforming bodies and is therefore suitable for swimmers performing UUS. Despite its approximations, the algorithm is applied such that simulations are performed with the inflow velocity updated at every time step. It also enables calculations of the resistive forces (total and applied to each segment) and the power input of the modeled swimmer. Validation of the methodology is achieved by comparing the data obtained from the computations with the original data (e.g.: sustained swimming speed). This method is applied to the different kinematic datasets and provides data on swimmers’ natural responses to pacing instructions. The results show how kinematics affect force generation mechanisms and hence how the propulsive efficiency of UUS varies for different race strategies.

Keywords: CFD, efficiency, human swimming, hydrodynamics, underwater undulatory swimming

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Authors: H. N. Anjanayappa, S. Benakappa, A. T. Ramachandra Naik, P. Nayana, D. P. Rajesh

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Fishes of the family Priacanthidae, popularly called big eye or bulls eye. Priacanthus hamrur is an important deep-water inhabitant of great commercial value. High percentage of landings of Priancanthids used as raw material for surimi, sausage and other fishery by-products. Presently, it has great demand in Singapore Thailand, Taiwan, Hong Kong and other countries. For the maturation studies, samples were collected from commercial landing centre, Mangalore. Studies on reproductive biology showed that Priacanthus hamrur spawns twice in a year, the spawning season extending from March to May and October to November. Based on the percentage occurrence of mature fishes in various size group it was inferred that male attained maturity at smaller size than female. This study will enable us to understand the spawning periodicity, cyclic morphological changes in male, female gonads and also it helps to improve stock size by enforcing fishing ban in particular season by assessing spawning periodicity.

Keywords: breeding biology, Mangalore, morphological changes, Priacanthus hamrur

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Authors: K. B. Rajanna, P. Nayana, H. N. Anjanayappa, N. Chethan

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The ‘fringed - lipped’ peninsula carp Labeo fimbriatus is a potential and an abundant fish species in rivers and reservoirs of peninsular India. It contributes a part of the inland fish production and also plays a role in the rural economy in major carp deficient regions of India. The fish is locally called as ‘Kemmeenu’ in Karnataka. Month wise samples were collected from the Vanivilasa Sagar Reservoir fish landing centre and fishing villages around the reservoir. Present investigation on the reproductive biology showed the occurrence of ripe gonads more during October, November, December and January. Thus it is concluded that spawning season coinciding with monsoon season and the size at maturity was found to be 36 and 37 cm total length (M and F). This study will throw light on reproductive biology of fish for captive brood stock development, breeding and rearing of Labeo fimbriatus. Since this fish is commercial important the study would help to take up hatchery production.

Keywords: inland, maturity, peninsula carp, reservoir

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Authors: Pengfan Wu, Xiaoan Chen, Ye He, Tianchi Chen

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This paper introduces the design of an unpowered knee exoskeleton to assist human walking by redistributing the moment of the knee joint during stair descent (SD). Considering the knee moment varying with the knee joint angle and the work of the knee joint is all negative, the custom-built spring was used to convert negative work into the potential energy of the spring during flexion, and the obtained energy work as assistance during extension to reduce the consumption of lower limb muscles. The human-machine adaptability problem was left by traditional rigid wearable due to the knee involves sliding and rotating without a fixed-axis rotation, and this paper designed the two-direction grooves to follow the human-knee kinematics, and the wire spring provides a certain resistance to the pin in the groove to prevent extra degrees of freedom. The experiment was performed on a normal stair by healthy young wearing the device on both legs with the surface electromyography recorded. The results show that the quadriceps (knee extensor) were reduced significantly.

Keywords: unpowered exoskeleton, stair descent, knee compliant joint, energy redistribution

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Authors: Priyadarshini Alok

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The present situation in India envisages that because of the surge in population and the economy, cities are expected to spill over to hinterland areas. The consumption-led factors such as land, labor, etc. will be boosted. Hence, the need for regional connectivity becomes obligatory. But, there is enormous pressure upon the land; proving itself through rising traffic congestion, roads, and railway accidents. Air transport is practical, but due to decreasing availability of land, this will not be a wise solution. What with the introduction of seaplanes in the country which was once the vital asset in the world prior to Second World War. Maldives has proved it. Seaplanes offer natural landing site and are time and cost-efficient. Seaplanes in accordance with UDAN can prove to be the solution in linking various regions with other states. This research paper aims to offer the feasibility analysis along with site justification of the potential areas in the state of Andhra Pradesh, India; for the operation of seaplanes. The standards are taken from the US Department of Transportation, Federal Aviation Administration for the analysis. The conflation of Seaplanes with UDAN will offer an alternate mode of air connectivity, strengthen the transport network by simulation of connectivity to unserved and under-served areas and boost the nation's economy.

Keywords: connectivity, seaplanes, transport, UDAN

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Authors: Bo Liu, Liangtian Gao, Idrees Qasim

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The impact of the storm leads to accidents even in the case of vessels that meet the computed safety criteria for stability. That is why, in order to clarify the causes of the accident and shipwreck, it is necessary to study the dynamics of the ship under the complex sudden impact of external forces. The task is to determine the movement and landing of the ship in the complex and sudden impact of external forces, i.e. when the ship's load changes over a relatively short period of time. For the solution, a technique was used to study the ship's dynamics, which is based on the compilation of a system of differential equations of motion. A coordinate system was adopted for the equation of motion of the hull and the determination of external forces. As a numerical method of integration, the 4^th order Runge-Kutta method was chosen. The results of the calculation show that dynamic deviations were lower for high-altitude vessels. The study of the movement of the hull under a difficult situation is performed: receiving of cargo, impact of a flurry of wind and subsequent displacement of the cargo. The risk of overturning and flooding was assessed.

Keywords: dynamics, statics, roll, trim, vertical displacement, dynamic load, tilt

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Authors: Seyed Jamal Haddadi, M. Reza Mehranpour, Roya Sadat Mortazavi, Zahra Sadat Mortazavi

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Principal aim of this research is trajectory tracking, attitude and position control scheme in real flight mode by an Octorotor helicopter. For more stability, in this Unmanned Aerial Vehicle (UAV), number of motors is increased to eight motors which end of each arm installed two coaxial counter rotating motors. Dynamic model of this Octorotor includes of motion equation for translation and rotation. Utilized controller is proportional-integral-derivative (PID) control loop. The proposed controller is designed such that to be able to attenuate an effect of external wind disturbance and guarantee stability in this condition. The trajectory is determined by a Global Positioning System (GPS). Also an ARM CortexM4 is used as microprocessor. Electronic board of this UAV designed as able to records all of the sensors data, similar to an aircraft black box in external memory. Finally after auto landing of Octorotor, flight data is shown in MATLAB software and Experimental results of the proposed controller show the effectiveness of our approach on the Autonomous Quadrotor in real conditions.

Keywords: octorotor, design, PID controller, autonomous, trajectory tracking

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Authors: Yansong Zhang, Xueyuan Li, Junjie Zhou, Xufeng Yin, Shihua Yuan, Shuxian Liu

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Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.

Keywords: skid-steering, Trucksim-Simulink, feedforward control, dynamics

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Authors: Temitope Adewale, Oladapo Raji

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The study was designed to investigate the assessment of women's involvement in fishing. In order to give the study a direction, five research questions, as well as two hypotheses, were postulated, and a total of fifty (50) respondents each were selected from two local government areas for the study. This brings a total of one hundred (100) respondents selected from these local government areas in Lagos state. The outcome of the finding indicates that the percentage of the respondents’ age, 49% was between 31 and 35 years, 56% has a working experience of 6-10 years, 61% were married, 69% had secondary education as their educational level. However, findings show that socio-economic characteristics (x2 =15.504, df=6, p < 0.05) and income (r=0.83, p < 0.05) have a significant relationship on the fishing. It was established that the Women in Fish production/processing were faced with a lot of constraints such as high cost of inputs, inadequate electricity supply, lack of adequate capital, non-availability of the improved oven, non-availability of extension agents, inadequate fish landing, lack of transportation facilities, lack of training on financial management and loan acquisition which affected the level of output of women in Fish processing adversely.

Keywords: women, fishing, agriculture, Lagos

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Authors: Ahmed Bolaji Alarape, Oluwatobi Damilola Aba

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The growth pattern of Oreochromis niloticus and Sarotherodon galilaeus in Epe Lagoon Lagos State was investigated. One hundred (100) samples of each species were collected from fishermen at the landing site. They were transported to the Fisheries Laboratory of National Institute of Oceanography for identification, sexing morphometric measurement. The results showed that 58.0% and 56.0 % of the O.niloticus and S.galilaeus were female respectively while 42.0% and 44.0% were male respectively. The length-weight relationship of O.niloticus showed a strong regression coefficient (r = 0.944) (p<0.05) for the combined sex, (r =0.901) (p<0.05) for female and (r=0.985) (p<.05) for male with b-value of 2.5, 3.1 and 2.8 respectively. The S.galilaeus also showed a regression coefficient of r=0.970; p<0.05 for the combined sex, r=0.953; p<0.05 for the female and r= 0.979; p<0.05 for the male with b-value of 3.4, 3.1 and 3.6 respectively. O.niloticus showed an isometric growth pattern both in male and female. The condition factor in O.niloticus are 1.93 and 1.95 for male and female respectively while that of S.galilaeus is 1.95 for both sexes. Positive allometric was observed in both species except the male O.niloticus that showed negative allometric growth pattern. From the results of this study, the growth pattern of the two species indicated a good healthy environment.

Keywords: Epe Lagoon, length-weight relationship, Oreochromis niloticus, Sarotherodon galilaeus

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Authors: D. P. Rajesh, H. N. Anjanayappa, P. Nayana, S. Benakappa

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The present study deals with length-weight relationship of Atropus atropos for which no information is available on this aspect from Mangalore coast. Therefore the present investigation was undertaken. Fish samples were collected from fish landing center (Mangalore) and fish market. The regression co-efficient of male was found to be lower than female. From this observation it may be opined that female gained more weight with increase in length compared to male. Data on seasonal variation in condition factor (Kn) showed that Kn values were more or less similar in both the sexes, indicating almost identical metabolic activity. Gonadal development and high feeding intensity are the factors which influenced the condition factor. The seasonal fluctuations in the relative condition factor of both the sexes could be attributed to the sexual cycle, food intake and environmental factors. From the present study, it can be inferred that the variation in the condition of Atropus atropos was due to feeding activity and gonadal maturity.

Keywords: Atropus atropos, length-weight relationship, Mangalore coast, relative condition factor, Kn

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Authors: Florin Frunzulica, Alexandru Dumitrache, Octavian Preotu

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The Coanda effect consists of the tendency of a jet to remain attached to a sufficiently long/large convex surface. Flows deflected by a curved surface have caused great interest during last fifty years a major interest in the study of this phenomenon is caused by the possibility of using this effect to aircraft with short take-off and landing, for thrust vectoring. It is also used in applications involving mixing two of more fluids, noise attenuation, ventilation, etc. The paper proposes the numerical study of an aerodynamic configuration that can passively amplify the Coanda effect. On a wing flaps with predetermined configuration, a channel is applied between two particular zones, a low-pressure one and a high-pressure another one, respectively. The secondary flow through this channel yields a gap between the jet and the convex surface, maintaining the jet attached on a longer distance. The section altering-based active control of the secondary flow through the channel controls the attachment of the jet to the surface and automatically controls the deviation angle of the jet. The numerical simulations have been performed in Ansys Fluent for a series of wing flaps-channel configurations with varying jet velocity. The numerical results are in good agreement with experimental results.

Keywords: blowing jet, CFD, Coanda effect, circulation control

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Authors: Shivani Saini

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The effect of vertical throughflow on the onset of convection in Rivlin-Ericksen Elastico-Viscous nanofluid with convective boundary condition is investigated. The flow is stimulated with modified Darcy model under the assumption that the nanoparticle volume fraction is not actively managed on the boundaries. The heat conservation equation is formulated by introducing the convective term of nanoparticle flux. A linear stability analysis based upon normal mode is performed, and an approximate solution of eigenvalue problems is obtained using the Galerkin weighted residual method. Investigation of the dependence of the Rayleigh number on various viscous and nanofluid parameter is performed. It is found that through flow and nanofluid parameters hasten the convection while capacity ratio, kinematics viscoelasticity, and Vadasz number do not govern the stationary convection. Using the convective component of nanoparticle flux, critical wave number is the function of nanofluid parameters as well as the throughflow parameter. The obtained solution provides important physical insight into the behavior of this model.

Keywords: Darcy model, nanofluid, porous layer, throughflow

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Authors: Partha P. Gopmandal, S. Bhattacharyya

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We investigate the thermal end effect on the pseudo-steady state behavior of the isotachophoretic transport of ionic species in a 2-D microchannel. Both ends of the channel are kept at a constant temperature which may lead to significant changes in electrophoretic migration speed. A mathematical model based on Nernst-Planck equations for transport of ions coupled with the equation for temperature field is considered. In addition, the charge conservation equations govern the potential field due to the external electric field. We have computed the equations for ion transport, potential and temperature in a coupled manner through the finite volume method. The diffusive terms are discretized via central difference scheme, while QUICK (Quadratic Upwind Interpolation Convection Kinematics) scheme is used to discretize the convective terms. We find that the thermal end effect has significant effect on the isotachophoretic (ITP) migration speed of the analyte. Our result shows that the ITP velocity for temperature dependent case no longer varies linearly with the applied electric field. A detailed analysis has been made to provide a range of the key parameters to minimize the Joule heating effect on ITP transport of analytes.

Keywords: finite volume method, isotachophoresis, QUICK scheme, thermal effect

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Authors: Dechrit Maneetham

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Pick and place task is one among the most important tasks in industrial field handled by 'Selective Compliance Assembly Robot Arm' (SCARA). Repeatability with high-speed movement in a horizontal plane is a remarkable feature of this type of manipulator. The challenge of design SCARA is the difficulty of achieving stability of high-speed movement with the long length of links. Shorter links arm can move more stable. This condition made the links should be considered restrict then followed by restriction of operation area (workspace). In this research, authors demonstrated on expanding SCARA robot’s workspace in horizontal area via linear sliding actuator that embedded to base link of the robot arm. With one additional prismatic joint, the previous robot manipulator with 3 degree of freedom (3-DOF), 2 revolute joints and 1 prismatic joint becomes 4-DOF PRRP manipulator. This designation increased workspace of robot from 0.5698m² performed by the previous arm (without linear actuator) to 1.1281m² by the proposed arm (with linear actuator). The increasing rate was about 97.97% of workspace with the same links' lengths. The result of experimentation also indicated that the operation time spent to reach object position was also reduced.

Keywords: kinematics, linear sliding actuator, manipulator, control system

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Authors: Ailing Yang, Penghan Song, Aihua Cai

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The nonlinear maneuvering target tracking problem is mainly a state estimation problem when the target motion model is uncertain. Traditional solutions include Kalman filtering based on Bayesian filtering framework and extended Kalman filtering. However, these methods need prior knowledge such as kinematics model and state system distribution, and their performance is poor in state estimation of nonprior complex dynamic systems. Therefore, in view of the problems existing in traditional algorithms, a convolution LSTM target state estimation (SAConvLSTM-SE) algorithm based on Self-Attention memory (SAM) is proposed to learn the historical motion state of the target and the error distribution information measured at the current time. The measured track point data of airborne radar are processed into data sets. After supervised training, the data-driven deep neural network based on SAConvLSTM can directly obtain the target state at the next moment. Through experiments on two different maneuvering targets, we find that the network has stronger robustness and better tracking accuracy than the existing tracking methods.

Keywords: maneuvering target, state estimation, Kalman filter, LSTM, self-attention

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Authors: Nisha Nandlal Sharma, Julaluk Carmai, Saiprasit Koetniyom, Bernd Markert

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Whiplash Injuries are mostly experienced in car accidents. Symptoms of whiplash are commonly reported in studies, neck pain and headaches are two most common symptoms observed. The whiplash Injury mechanism is poorly understood. In present study, hybrid neck muscle model were developed with a combination of solid tetrahedral elements and 1D beam elements. Solid tetrahedral elements represents passive part of the muscle whereas, 1D beam elements represents active part. To simulate the active behavior of the muscle, Hill-type muscle model was applied to beam elements. To simulate non-linear passive properties of muscle, solid elements were modeled with rubber/foam material model. Some important muscles were then inserted into THUMS (Total Human Model for Safety) THUMS was given a boundary conditions similar to experimental tests. The model was exposed to 4g and 7g rear impacts as these load impacts are close to low speed impacts causing whiplash. The effect of muscle activation level on occupant kinematics during whiplash was analyzed.

Keywords: finite element model, muscle activation, THUMS, whiplash injury mechanism

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Authors: A. Ramalho, L. Romeiro, R. Ventura, A. Suleman

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A real-time path planning framework for Unmanned Air Vehicles, and in particular multi-rotors is proposed. The framework is designed to provide feasible trajectories from the current UAV position to a goal state, taking into account constraints such as obstacle avoidance, problem kinematics, and vehicle limitations such as maximum speed and maximum acceleration. The framework computes feasible paths online, allowing to avoid new, unknown, dynamic obstacles without fully re-computing the trajectory. These features are achieved using an iterative process in which the robot computes and optimizes the trajectory while performing the mission objectives. A first trajectory is computed using a modified Rapidly-Exploring Random Tree (RRT) algorithm, that provides trajectories that respect a maximum curvature constraint. The trajectory optimization is accomplished using the Interior Point Optimizer (IPOPT) as a solver. The framework has proven to be able to compute a trajectory and optimize to a locally optimal with computational efficiency making it feasible for real-time operations.

Keywords: interior point optimization, multi-rotors, online path planning, rapidly exploring random trees, trajectory optimization

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Authors: Tang Wei, Yang Xiaofeng, Gui Yewei, Du Yanxia

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Complex lifting entry was selected for precise landing performance during the Mars Science Laboratory entry. This study aims to develop the three-dimensional numerical method for precise computation and the surface panel method for rapid engineering prediction. Detailed flow field analysis for Mars exploration mission was performed by carrying on a series of fully three-dimensional Navier-Stokes computations. The static aerodynamic performance was then discussed, including the surface pressure, lift and drag coefficient, lift-to-drag ratio with the numerical and engineering method. Computation results shown that the shock layer is thin because of lower effective specific heat ratio, and that calculated results from both methods agree well with each other, and is consistent with the reference data. Aerodynamic performance analysis shows that CG location determines trim characteristics and pitch stability, and certain radially and axially shift of the CG location can alter the capsule lifting entry performance, which is of vital significance for the aerodynamic configuration des0ign and inner instrument layout of the Mars entry capsule.

Keywords: Mars entry capsule, static aerodynamics, computational fluid dynamics, hypersonic

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Authors: Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba

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Finding the optimal 3D path of an aerial vehicle under flight mechanics constraints is a major challenge, especially when the algorithm has to produce real-time results in flight. Kinematics models and Pythagorian Hodograph curves have been widely used in mobile robotics to solve this problematic. The level of difficulty is mainly driven by the number of constraints to be saturated at the same time while minimizing the total length of the path. In this paper, we suggest a pragmatic algorithm capable of saturating at the same time most of dimensioning helicopter 3D trajectories’ constraints like: curvature, curvature derivative, torsion, torsion derivative, climb angle, climb angle derivative, positions. The trajectories generation algorithm is able to generate versatile complex 3D motion primitives feasible by a helicopter with parameterization of the curvature and the climb angle. An upper ”motion primitives’ concatenation” algorithm is presented based. In this article we introduce a new way of designing three-dimensional trajectories based on what we call the ”Dubins gliding symmetry conjecture”. This extremely performing algorithm will be soon integrated to a real-time decisional system dealing with inflight safety issues.

Keywords: robotics, aerial robots, motion primitives, helicopter

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Authors: Sung-Chul Hwang, Di Ren, Sang-Moon Yoon, Jong-Chun Park, Abbas Khayyer, Hitoshi Gotoh

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The slamming impact problem has a very important engineering background. For seaplane landing, recycling for the satellite re-entry capsule, and the impact load of the bow in the adverse sea conditions, the slamming problem always plays the important role. Due to its strong nonlinear effect, however, it seems to be not easy to obtain the accurate simulation results. Combined with the strong interaction between the fluid field and the elastic structure, the difficulty for the simulation leads to a new level for challenging. This paper presents a fully Lagrangian coupled solver for simulations of fluid-structure interactions, which is based on the Moving Particle Semi-implicit (MPS) method to solve the governing equations corresponding to incompressible flows as well as elastic structures. The developed solver is verified by reproducing the high velocity impact loads of deformable thin wedges with two different materials such as aluminum and steel on water entry. The present simulation results are compared with analytical solution derived using the hydrodynamic Wagner model and linear theory by Wan.

Keywords: fluid-structure interaction, moving particle semi-implicit (MPS) method, elastic structure, incompressible flow, wedge slamming impact

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Authors: Muhammad Omer Farooq Saeed

Abstract:

The purpose of the proposal is to find out what time actually is! And to understand the natural phenomenon of the behavior of time and light corresponding to the motion of the bodies at relatively high speeds. The utmost concern of the paper is to deal with the possible demerits in the equations of relativity, thereby providing some valuable extensions in those equations and concepts. The idea used develops the most basic conception of the relative motion of the body with respect to space and a real understanding of time and the variation of energy of the body in different frames of reference. The results show the development of a completely new understanding of time, relative motion and energy, along with some extensions in the equations of special relativity most importantly the time dilation and the mass-energy relationship that will explain all frames of a body, all in one go. The proposal also raises serious questions on the validity of the “Principle of Equivalence” on which the General Relativity is based, most importantly a serious case of the bending light that eventually goes against its own governing concepts of space-time being proposed in the theory. The results also predict the existence of a completely new field that explains the fact just how and why bodies acquire energy in space-time. This field explains the production of gravitational waves based on time. All in all, this proposal challenges the formulas and conceptions of Special and General Relativity, respectively.

Keywords: time, relative motion, energy, speed, frame of reference, photon, curvature, space-time, time –differentials

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Authors: Edward Pol

Abstract:

All companies are confronted with the need to innovate in order to meet market demands. In so doing they are challenged with the dilemma of whether to aim to be first into the market with a new innovative product or to deliberately wait and learn from a pioneers’ mistakes; potentially avoiding higher risks. It is therefore important to critically understand from a first-mover advantage and disadvantage perspective the decision-making implications of defence industry transformation onset by an innovative paradigm shift. This paper will argue that the type of industry characteristics matter, especially when considering what role the clients play in the innovation process and what is their level of influence. Through investigation of qualitative case study research, this inquiry will focus on first mover advantages and first mover disadvantages with a view to establish practical and value-added academic findings by focusing on specific industries where the clients play an active role in cooperation with the supplier innovation. The resulting findings will help managers to mitigate risk in innovative technology introduction. A selection from several defense industry innovations is specifically chosen because of the client-supplier relationship typically differing from traditional first-mover research. In this instance, case studies will be used referencing vertical-takeoff-and-landing defence equipment innovations.

Keywords: innovation, pioneer, first-mover advantage, first-mover disadvantage, risk

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