The navigation of pedestrians based on inertial sensors, i.e., accelerometers and gyroscopes, has experienced a great growth over the last years. However, the noise of medium- and low-cost sensors causes a high error in the orientation estimation, particularly in the yaw angle. This error, called drift, is due to the bias of the z-axis gyroscope and other slow changing errors, such as temperatu...

In this paper, a new actuator fault detection and isolation method for a four wheel independent drive electric vehicle is proposed. Also, a controller based on sliding mode control method is proposed for lateral stability of the vehicle. The proposed control method is designed in three high, medium and low levels. At the high-level, the vehicle desired dynamics such as longitudinal speed refere...

Abstract—In this paper we extend the Park and Jensen wake model to include the effects of yaw misalignment and wake deflection of wind turbines. We perform a numerical study to find the optimal values of induction factor and yaw misalignment angle of wind turbines in a single row of a windfarm for achieving the maximum total power with wake effects. Our study shows that the maximum power is ach...

In avian bipeds performing steady locomotion, right and left limbs are typically assumed to act out of phase, but with little kinematic disparity. However, outwardly appearing steadiness may harbor previously unrecognized asymmetries. Here, we present marker-based XROMM data showing that guineafowl on a treadmill routinely yaw away from their direction of travel using asymmetrical limb kinemati...

We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories that an AUV may be requested to undergo in order to ensure observability, which is a crucial step in the design of single or multiple beacon...

Many researches on vehicle planar motion stability focus on two degrees of freedom(2DOF) vehicle model, and only the lateral velocity (or side slip angle) and yaw rate are considered as the state variables. The stability analysis methods, such as phase plane analysis, equilibriums analysis and bifurcation analysis, are all used to draw many classical conclusions. It is concluded from these rese...

An enhanced data driven model-free adaptive yaw control tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle (UAV) helicopter which is non-affine in the control input in this paper. Through dynamic linearization and observer techniques, the proposed control algorithm is only based on the pseudo-partial derivative (PPD) parameter estimation derived online from th...

An exploratory computational investigation using RANS & URANS was carried out to understand the aerodynamics around an isolated single rotating wheel with decreasing ground proximity. The wheel was initially modelled in free air conditions, then with decreasing ground proximity and increased yaw angle with rotational speeds. Three speeds of rotation were applied to the wheel so that the effect ...