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Rapid solution methods are still a challenge for difficult optimization problems among them those arising in nonlinear model predictive control. The particle swarm optimization algorithm has shown its potential for the solution of some problems with an acceptable computation time. In this paper, we use an accelerated version of PSO for the solution of simple and multiobjective nonlinear MBPC for unmanned vehicles (mobile robots and quadcopter) for tracking trajectories and obstacle avoidance. The AµPSO-NMPC was applied to control a LEGO mobile robot for the tracking of a trajectory without and with obstacles avoidance one.

The accelerated PSO and the NMPC are used to control unmanned vehicles for tracking trajectories and obstacle avoidance.

The results of the experiments are very promising and show that AµPSO can be considered as an alternative to the classical solution methods.

The computation time is less than 0.02 ms using an Intel Core i7 with 8GB of RAM.

This paper aims to clarify the necessity of taking into account the commonly neglected radiation in built environments. Ignoring radiation within acclimatized spaces with moist air, which is a participating medium, can yield inaccurate values of the relevant variables, endangering the Heating, ventilation, and air conditioning design accuracy and leading to energy inefficiencies and discomfort.

The paper uses computational fluid dynamics to predict non-isothermal flows with radiation, for both mixing and displacement ventilation strategies. The tool is applied to a lab-scale model (scale 1:30), and the results are compared with experimental data and predictions without radiation. Furthermore, the radiation influence is also assessed at real-scale level, including a parametric study on the effect of the air relative humidity on radiation.

The paper demonstrates the unequivocal impact of radiation on the flows thermal-kinematics at real-scale: ignoring radiation yields average air temperature differences of 2ºC. This becomes more evident for larger air optical thicknesses (larger relative humidity): changing it from 20 per cent to 50 per cent and 70 per cent yields maximum relative differences of 100 per cent for the velocity components and 0.4ºC for the air temperature. Nevertheless, the results for the lab-scale case are not so conclusive about the effect of moist air radiation on the thermal flow characteristics, but they evidence its impact on the flow kinematics (maximum relative differences of velocity components of 35 per cent).

The paper fulfills an identified need to clarify the relevant effects of air moisture on radiation and on the flow turbulence and thermal-kinematic characteristics for forced convective flows inside built environments.