Most of the fault-tolerant control strategies found in the literature assume conclusive diagnosis, i.e. the current fault mode of the plant is well-known. Although, speculative diagnosis can be a more realistic approach while noise corrupted measurements and plant disturbances hamper the construction of a precise diagnosis statement. Speculative diagnosis consists in providing a set with the mo...

Press-wheels are wheels designed to compact the soil above seeds in “seed cover” region. Soil compaction, produced by press-wheels of seeders, affects seedling emergence and early plant growth. The Discrete Element Method (DEM) was used model amount compaction from a press-wheel with varying down forces. predict sinkage rolling resistance press-wheel. results were validated data bin tests sandy...

Restricted waters present several challenges for ship builders and operators. The proximity of the seabed river or canal banks cause viscous effects to be more pronounced than in unrestricted waters. These do not follow a linear scaling law, which is typically assumed terms sinkage trim. Moreover, resistance increased complex fashion, has largely eluded researchers. study will aim elucidate sca...

The effects of limited water depth on the hydrodynamic performance a catamaran with full-scale dimensions and geometry WAM-V 16 unmanned surface vehicle operating in shallow waters are investigated using an incompressible URANS-VOF solver OpenFOAM®. Simulations flow associated passage have been conducted for range speed several to intermediate depths under free trim sinkage conditions. resistan...

In this paper a modeling technique called SCM (Soil Contact Model) for simulating the physical interaction between a rover mobility system (wheel, legs, tracks etc.) and a planetary soil surface will be presented. SCM computes the contact forces between the soil and the contact objects based on Bekker’s empirical terramechanics formulae. Within SCM the soil geometry is described as digital elev...