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The purpose of this study is to investigate the post-buckling analysis of functionally graded columns by using three analytical, approximate and numerical methods. A pre-defined function as an initial assumption for the post-buckling path is introduced to solve the differential equation. The finite difference method is used to approximate the lateral deflection of the column based on the differential equation. Moreover, the finite element method is used to derive the tangent stiffness matrix of the column.

The non-linear buckling analysis of functionally graded materials is carried out by using three analytical, finite difference and finite element methods. The elastic deformation and Euler-Bernoulli beam theory are considered to establish the constitutive and kinematics relations, respectively. The governing differential equation of the post-buckling problem is derived through the energy method and the calculus variation.

An incremental iterative solution and the perturbation of the displacement vector at the critical buckling point are performed to determine the post-buckling path. The convergence of the finite element results and the effects of geometric and material characteristics on the post-buckling path are investigated.

The key point of the research is to compare three methods and to detect error sources by considering the derivation process of relations. This comparison shows that a non-incremental solution in the analytical and finite difference methods and an initial assumption in the analytical method lead to an error in results. However, the post-buckling path in the finite element method is traced by the updated tangent stiffness matrix in each load step without any initial limitation.

The purpose of this study is to find the suitable trajectory path of the Numerical model of the Quadcopter. Quadcopters are widely used in various applications due to their compact size and ease of assembly. Because they are quite unstable, autonomous control systems would be used to overcome this problem. Modelling autonomous control is predominant as the research scope faces challenges because of its highly non-linear, multivariable system with 6 degree of freedom.

Quadcopters with antonym systems can operate in an unknown environment by overcoming unexpected disturbances. The first objective when designing such a system is to design an accurate mathematical model to describe the dynamics of the system. Newton’s law of motion was used to build the mathematical model of the system.

Establishment of the mathematical model and the physics behind a four propeller drone for the frame TAROT 650 carbon was done. Simulink model was developed based on the mathematical model for simulating the complete dynamics of the drone as well as location and gusts were included to check the stability.

The control response of the system was simulated numerically results are discussed. The trajectory path was found. The phases with their own parameters can be used to implement the mathematical model for another type of quadcopter model and achieve quick development.

This paper focuses on the application of a robotic technique for modeling a three-wheeled mobile robot (WMR), considering it as a multibody polyarticulated system. Then the dynamic behavior of the developed model is verified using a physical model obtained by Simscape Multibody.

Firstly, a geometric model is developed using the modified Denavit–Hartenberg method. Then the dynamic model is derived using the algorithm of Newton–Euler. The developed model is performed for a three-wheeled differentially driven robot, which incorporates the slippage of wheels by including the Kiencke tire model to take into account the interaction of wheels with the ground. For the physical model, the mobile robot is designed using Solidworks. Then it is exported to Matlab using Simscape Multibody. The control of the WMR for both models is realized using Matlab/Simulink and aims to ensure efficient tracking of the desired trajectory.

Simulation results show a good similarity between the two models and verify both longitudinal and lateral behaviors of the WMR. This demonstrates the effectiveness of the developed model using the robotic approach and proves that it is sufficiently precise for the design of control schemes.

The motivation to adopt this robotic approach compared to conventional methods is the fact that it makes it possible to obtain models with a reduced number of operations. Furthermore, it allows the facility of implementation by numerical or symbolical programming. This work serves as a reference link for extending this methodology to other types of mobile robots.

Any consensus about the effects of dihedral angle on hover rigidity of rotary-wing unmanned aerial vehicles (RW-UAVs) does not exist in the literature. There are researchers who state that the dihedral angle has an effect on flight stability and researchers who claim the opposite. The discord stems from the different approaches of these groups to the concept of “stability,” the fact that they conduct experiments whose measurements are largely influenced by environmental conditions, and the physical assumptions are not similar. On the other hand, there is no study examining the effect of dihedral angle on the maneuverability of drones either. This study aims to analytically reveal the consequences of dihedral angles in RW-UAVs in terms of flight agility and maneuverability.

Dihedral angle examinations on both hover rigidity and maneuverability are carried out analytically. Equations of motions for a multicopter’s rigid body with a dihedral angle under two different conditions (zero and nonzero dihedral angles) are derived. Numerical simulations are conducted by defining the simulation parameters, and then displacement graphics for the center of mass are interpreted.

The presence of a dihedral angle makes the multicopter platforms behave like a pendulum, and this pendulum motion affects the disturbance rejection and the planar maneuver capabilities of multicopters. Since deflections can be spread to the orthonormal axes thanks to rotation about a pivot, net deflections of the geometric center may be diminished. Besides, pendulum motion eases the maneuvers with yaw rotations since the required rotation might occur without rotors’ revolution per minute changes.

Proposed dihedral angle implementation may enhance the hover stiffness and maneuverability capabilities of multicopters which, in turn, raise the performance of the drones.

This paper presents the analytical basis for the dihedral angle's effects on flight stability and agility.

This study aims to study the thermal identification issue by harvesting both solar energy and atmospheric thermal updraft for a solar-powered unmanned aerial vehicle (SUAV) and its electric energy performance under continuous soaring conditions.

The authors develop a specific dynamic model for SUAVs in both soaring and cruise modes. The support vector machine regression (SVMR) is adopted to estimate the thermal position, and it is combined with feedback control to implement the SUAV soaring in the updraft. Then, the optimal path model is built based on the graph theory considering the existence of several thermals distributed in the environment. The procedure is proposed to estimate the electricity cost of SUAV during flight as well as soaring, and making use of dynamic programming to maximize electric energy.

The simulation results present the integrated control method could allow SUAV to soar with the updraft. In addition, the proposed approach allows the SUAV to fly to the destination using distributed thermals while reducing the electric energy use.

Two simplified dynamic models are constructed for simulation considering there are different flight mode. Besides, the data-driven-based SVMR method is proposed to support SUAV soaring. Furthermore, instead of using length, the energy cost coefficient in optimization problem is set as electric power, which is more suitable for SUAV because its advantage is to transfer the three-dimensional path planning problem into the two-dimensional.

Fiber reinforced additive manufacturing (FRAM) is an emerging technology that combines additive manufacturing and composite materials. As a result, design freedom offered by the manufacturing process can be leveraged in design optimization. The purpose of the study is to propose a novel method that improves structural performance by optimizing 3D print orientation of FRAM components.

This work proposes a two-part design optimization method that optimizes 3D global print orientation and topology of a component to improve a structural objective function. The method considers two classes of design variables: (1) print orientation design variables and (2) density-based topology design variables. Print orientation design variables determine a unique 3D print orientation to influence anisotropic material properties. Topology optimization determines an optimal distribution of material within the optimized print orientation.

Two academic examples are used to demonstrate basic behavior of the method in tension and shear. Print orientation and sequential topology optimization improve structural compliance by 90% and 58%, respectively. An industry-level example, an aerospace component, is optimized. The proposed method is used to achieve an 11% and 15% reduction of structural compliance compared to alternative FRAM designs. In addition, compliance is reduced by 43% compared to an equal-mass aluminum design.

Current research surrounding FRAM focuses on the manufacturing process and neglects opportunities to leverage design freedom provided by FRAM. Previous FRAM optimization methods only optimize fiber orientation within a 2D plane and do not establish an optimized 3D print orientation, neglecting exploration of the entire orientation design space.

One of the challenges encountered in the design of guided projectiles is their prohibitive cost. To diminish it, an appropriate avenue many researchers have explored is the use of the non-actuator method for guiding the projectile to the target. In this method, biologically inspired by the flying concept of the single-winged seed, for instance, that of maple and ash trees, the projectile undergoes a helical motion to scan the region and meet the target in the descent phase. Indeed, the projectile is a decelerator device based on the autorotation flight while it attempts to resemble the seed’s motion using two wings of different spans. There exists a wealth of studies on the stability of the decelerators (e.g. the mono-wing, samara and pararotor), but all of them have assumed the body (exclusive of the wing) to be symmetric and paid no particular attention to the scanning quality of the region. In practice, however, the non-actuator-guided projectiles are asymmetric owing to the presence of detection sensors. This paper aims to present an analytical solution for stability analysis of asymmetric decelerators and apprise the effects of design parameters to improve the scanning quality.

The approach of this study is to develop a theoretical model consisting of Euler equations and apply a set of non-dimensionalized equations to reduce the number of involved parameters. The obtained governing equations are readily applicable to other decelerator devices, such as the mono-wing, samara and pararotor.

The results show that the stability of the body can be preserved under certain conditions. Moreover, pertinent conclusions are outlined on the sensitivity of flight behavior to the variation of design parameters.

The analytical solution and sensitivity analysis presented here can efficiently reduce the design cost of the asymmetric decelerator.

This paper aims to present an iterative path-following method with joint limits to solve the problem of large computation cost, movement exceeding joint limits and poor path-following accuracy for the path planning of hyper-redundant snake-like manipulator.

When a desired path is given, new configuration of the snake-like manipulator is obtained through a geometrical approach, then the joints are repositioned through iterations until all the rotation angles satisfy the imposed joint limits. Finally, a new arrangement is obtained through the analytic solution of the inverse kinematics of hyper-redundant manipulator. Finally, simulations and experiments are carried out to analyze the performance of the proposed path-following method.

Simulation results show that the average computation time is 0.1 ms per step for a hyper-redundant manipulator with 12 degrees of freedom, and the deviation in tip position can be kept below 0.02 mm. Experiments show that all the rotation angles are within joint limits.

Currently , the manipulator is working in open-loop, the elasticity of the driving cable will cause positioning error. In future, close-loop control based on real-time attitude detection will be used in in combination with the path-following method to achieve high-precision trajectory tracking.

Through a series of iterative processes, the proposed method can make the manipulator approach the desired path as much as possible within the joint constraints with high precision and less computation time.

Robotic arms’ interactions with the external environment are growing more intricate, demanding higher control precision. This study aims to enhance control precision by establishing a dynamic model through the identification of the dynamic parameters of a self-designed robotic arm.

This study proposes an improved particle swarm optimization (IPSO) method for parameter identification, which comprehensively improves particle initialization diversity, dynamic adjustment of inertia weight, dynamic adjustment of local and global learning factors and global search capabilities. To reduce the number of particles and improve identification accuracy, a step-by-step dynamic parameter identification method was also proposed. Simultaneously, to fully unleash the dynamic characteristics of a robotic arm, and satisfy boundary conditions, a combination of high-order differentiable natural exponential functions and traditional Fourier series is used to develop an excitation trajectory. Finally, an arbitrary verification trajectory was planned using the IPSO to verify the accuracy of the dynamical parameter identification.

Experiments conducted on a self-designed robotic arm validate the proposed parameter identification method. By comparing it with IPSO1, IPSO2, IPSOd and least-square algorithms using the criteria of torque error and root mean square for each joint, the superiority of the IPSO algorithm in parameter identification becomes evident. In this case, the dynamic parameter results of each link are significantly improved.

A new parameter identification model was proposed and validated. Based on the experimental results, the stability of the identification results was improved, providing more accurate parameter identification for further applications.

Many existing trajectory optimization algorithms use parameters like maximum velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual tracking capability, the generated trajectories may not be suitable for tracking control. The purpose of this paper is to design an online adjustment algorithm to improve the overall quadrotor trajectory tracking performance.

The authors propose a reference trajectory resampling layer (RTRL) to dynamically adjust the reference signals according to the current tracking status and future tracking risks. First, the authors design a risk-aware tracking monitor that uses the Frenét tracking errors and the curvature and torsion of the reference trajectory to evaluate tracking risks. Then, the authors propose an online adjusting algorithm by using the time scaling method.

The proposed RTRL is shown to be effective in improving the quadrotor trajectory tracking accuracy by both simulation and experiment results.

Infeasible reference trajectories may cause serious accidents for autonomous quadrotors. The results of this paper can improve the safety of autonomous quadrotor in application.