The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called “decoupling identification”, for a serial two-link robot arm with elastic joints caused by the Harmonic drive R © reduction gears....

Wilson's storm petrel (Oceanites oceanicus) characteristically feeds by ' hovering' over the water surface, but its technique for this is unlike that of other flying vertebrates. The kinematics and aerodynamics of this ' hovering' flight were investigated to determine the possible sources of lift; various nonaerodynamic sources of lift were discounted. It is suggested that the storm petrel soar...

Submarine cables such as electrical umbilical power for floating wind turbines are subject to biofouling which can have an important effect on their dynamical behaviour under wave and current conditions by drastically increasing size mass. The impact of the dynamic underwater cable characterized hydrodynamic coefficients, drag inertia must therefore be quantified. Hence, experiments been carrie...

By immersing a compliant yet self-supporting sheet into flowing water, we study a heavy, streamlined, and elastic body interacting with a fluid. We find that above a critical flow velocity a sheet aligned with the flow begins to flap with a Strouhal frequency consistent with animal locomotion. This transition is subcritical. Our results agree qualitatively with a simple fluid dynamical model th...

A reliable and fast method of predicting complex aerodynamic coefficients for flight simulation is presented using neural networks. The training data for the neural network is derived from numerical simulations and wind-tunnel experiments. The aerodynamic coefficients are modeled as functions of the flow characteristics and the control surfaces of the vehicle. The basic coefficients of lift, dr...

The numerical prediction of channel segregations during two-dimensional columnar solidification of Sn-Pb alloy is analyzed when inertia is considered in the dendritic mushy zone. This contribution is included in the momentum transport equation through the quadratic Forchheimer correction term. A significant influence of the Forchheimer term in the vicinity of the liquidus region is found. The n...

Optimal pacing strategies for cycling time trials have been treated in literature in numerous publications, e.g. Gordon (2005). Generally, the minimum time pacing is sought subject to a mechanical model and a physiological model. The mechanical model (Martin, 1998) comprises the pedaling power P and forces for gravity on a cycling track of varying slope, rolling resistance, aerodynamic drag, fr...