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The purpose of this paper is to establish analytical and numerical solutions of a navigational law to estimate displacements of hyper-static multi-legged mobile robots, which combines: monocular vision (optical flow of regional invariants) and legs dynamics.

In this study the authors propose a Euler-Lagrange equation that control legs’ joints to control robot's displacements. Robot's rotation and translational velocities are feedback by motion features of visual invariant descriptors. A general analytical solution of a derivative navigation law is proposed for hyper-static robots. The feedback is formulated with the local speed rate obtained from optical flow of visual regional invariants. The proposed formulation includes a data association algorithm aimed to correlate visual invariant descriptors detected in sequential images through monocular vision. The navigation law is constrained by a set of three kinematic equilibrium conditions for navigational scenarios: constant acceleration, constant velocity, and instantaneous acceleration.

The proposed data association method concerns local motions of multiple invariants (enhanced MSER) by minimizing the norm of multidimensional optical flow feature vectors. Kinematic measurements are used as observable arguments in the general dynamic control equation; while the legs joints dynamics model is used to formulate the controllable arguments.

The given analysis does not combine sensor data of any kind, but only monocular passive vision. The approach automatically detects environmental invariant descriptors with an enhanced version of the MSER method. Only optical flow vectors and robot's multi-leg dynamics are used to formulate descriptive rotational and translational motions for self-positioning.

Aims to realize the high accurate contour control with high‐speed motion of articulated robot manipulator (ARM) with interference.

Proposes a new contour control method by using Gaussian neural network (GNN) to solve the problem of the deterioration of the contour control performance due to the interference between robot links. The construction of the GNN controller and the approximation of the interference are based on the Euler‐Lagrange model of ARM. The actual input/out data about the motion of ARM are used for training the GNN to accurately represent the inverse dynamics of ARM with interference. With the Lyapunov function, the stability and the robustness of the GNN controller are discussed. Through the simulation and experiment, it verified that the precision of the contour control has been improved, and illustrated the good features of the proposed method.

Finds that the actual data about the motion of ARM, which is easily obtained from the working field, can express the real features of ARM, and the GNN controller can improve the precision of the contour control with good features.

The proposed method provides an effective method for realizing high accurate contour control of ARM with interference. It can be extended to the ARMs with more than two links and concerning more factors affecting the precision of the contour control, such as friction or gravity.

Proposes a new GNN controller for realizing high accurate contour control of ARM with interference, which is significant for industry.

The purpose of this paper is to introduce a new class of positive two‐dimensional (2D) fractional linear systems.

A notion (concept) of order 2D difference is proposed and the solution to the state equations is given.

The classical Cayley‐Hamilton theorem is extended to the positive 2D fractional linear systems. Necessary and sufficient conditions for the positivity of 2D fractional linear systems, reachability and controllability to zero are established.

A method for analysis of positive 2D fractional linear systems is proposed.

Nanofluids’ properties made them interesting for various areas like engineering, medicine or cosmetology. Discussed here, research pertains to specific problem of heat transfer enhancement with application of the magnetic field. The main idea was to transfer high heat rates with utilization of nanofluids including metallic non-ferrous particles. The expectation was based on changed nanofluid properties. However, the results of experimental analysis did not meet it. The heat transfer effect was smaller than in the case of base fluid. The only way to understand the process was to involve the computational fluid dynamics, which could help to clarify this issue. The purpose of this research is deep understanding of the external magnetic field effect on the nanofluids heat transfer.

In presented experimental and numerical studies, the water and silver nanofluids were considered. From the numerical point of view, three approaches to model the nanofluid in the strong magnetic field were used: single-phase Euler, Euler–Euler and Euler–Lagrange. In two-phase approach, the momentum transfer equations for individual phases were coupled through the interphase momentum transfer term expressing the volume force exerted by one phase on the second one.

Therefore, the results of numerical simulation predicted decrease of convection heat transfer for nanofluid with respect to pure water, which agreed with the experimental results. The experimental and numerical results are in good agreement with each other, which confirms the right choice of two-phase approach in analysis of nanofluid thermo-magnetic convection.

The Euler–Lagrange exhibit the best matching with the experimental results.

Detonation of landmines buried to different depths in water‐saturated sand is analyzed computationally using transient non‐linear dynamics simulations in order to quantify impulse loading. The computational results are compared with the corresponding experimental results obtained using the Vertical Impulse Measurement Fixture (VIMF), a structural mechanical device that enables direct experimental determination of the blast‐loading impulse. The structural‐dynamic/ballistic response of the Rolled Homogenized Armor (RHA) used in the construction of the VIMF witness plate and the remainder of the VIMF and the hydrodynamic response of the TNT high‐energy explosive of a mine and of the air surrounding the VIMF are represented using the standard materials models available in literature. The structural‐dynamic/ballistic response of the sand surrounding the mine, on the other hand, is represented using our recent modified compaction model which incorporates the effects of degree of saturation and the rate of deformation, two important effects which are generally neglected in standard material models for sand. The results obtained indicate that the use of the modified compaction model yields a substantially better agreement with the experimentally‐determined impulse loads over the use the original compaction model. Furthermore, the results suggest that, in the case of fully saturated sand, the blast loading is of a bubble type rather than of a shock type, i.e. the detonation‐induced momentum transfer to the witness plate is accomplished primarily through the interaction of the sand‐over‐burden (propelled by the high‐pressure expanding gaseous detonation by‐products) with the witness plate.

Barge-type offshore floating wind turbine (OFWT) commonly exhibits an under-actuated phenomenon in an offshore environment, which leads to a potential vibration-damping hazard. This article aims to provide a new robust output feedback anti-vibrational control scheme for the novel translational oscillator with rotational actuator (TORA) based five-degrees of freedom (5-DOF) barge-type OFWT in the presence of unwanted disturbances and modeling uncertainties.

In this paper, an active control technique called TORA has been used to design a 5-DOF barge-type OFWT model, where the mathematical model of the proposed system is derived by using Euler–Lagrange's equations. The robust hierarchical backstepping integral nonsingular terminal sliding mode control (HBINTSMC) with an adaptive gain is used in conjunction with extended order high gain observer (EHGO) to achieve system stabilization in the presence of unwanted disturbances and modeling uncertainties. The numerical simulations based on MATLAB/SIMULINK have been performed to demonstrate the feasibility and effectiveness of the proposed model and control law.

The numerical simulation results affirm the accuracy and efficiency of the proposed control law for the TORA based OFWT system. The results demonstrate that the proposed control law is robust against unwanted disturbances and uncertainties. The unknown states are accurately estimated by EHGO which enables the controller to exhibit improved stabilization performance.

A new mathematical model of the 5-DOF barge-type OFWT system based on TORA is the major contribution of this research paper. Furthermore, it provides a new adaptive anti-vibration control scheme by incorporating the EHGO for the proposed model.

The purpose of this study is to investigate the effect of the injection angle α on the spray structures of an air-blast atomizer and help enhance the understanding of droplet-gas mixing process in such atomizers in the engineering domain.

The phenomena in the air-blast atomizer were numerically modelled using the computational fluid dynamics software Fluent 17.2. The Euler-Lagrange approach was applied to model the droplet tracking and droplet-gas interaction in studied cases. The standard k-ε model was used to simulate the turbulent flow. A model with a modified drag coefficient was used to consider the effects of the bending of the liquid column and its penetration in the primary breakup region. The Kelvin-Helmholtz, Rayleigh-Taylor model was applied to consider the secondary breakup of the droplets.

The basic spatial distribution and spray structures of the droplets corresponding to the angled liquid jet (α = 60°) were similar to those reported in liquid jets injected transversely into a gaseous crossflow studies. The injection angle α did not considerably influence the averaged Sauter to mean diameter (SMD) of the cross-sections. However, the spray structures pertaining to α = 30°, α = 60° and α = 90° were considerably different. In the case of the atomizer with multiple injections, a “collision region” was observed at α = 60° and characterized by a higher ci and larger averaged SMD in the central parts of the cross-sections.

The injection angle α is a key design parameter for air-blast atomizers. The findings of this study can help enhance the understanding of the droplet-gas mixing process in air-blast atomizers. Engineers who design air-blast atomizers and face new challenges in the process can refer to the presented findings to obtain the desired atomization performance. The code has been validated and can be used in the engineering design process of the gas-liquid jet atomizer.

This paper aims to investigate the distributed coordinated fuzzy tracking problems for multiple mechanical systems with nonlinear model uncertainties under a directed communication topology.

The dynamic leader case is considered while only a subset of the follower mechanical systems can obtain the leader information. First, this paper approximates the system uncertainties with finite fuzzy rules and proposes a distributed adaptive tracking control scheme. Then, this paper makes a detailed classification of the system uncertainties and uses different fuzzy systems to approximate different kinds of uncertainties. Further, an improved distributed tracking strategy is proposed. Closed-loop systems are investigated using graph theory and Lyapunov theory. Numerical simulations are performed to verify the effectiveness of the proposed methods.

Based on fuzzy control and adaptive control theories, the desired distributed coordinated tracking control strategies for multiple uncertain mechanical systems are developed.

Compared with most existing literature, the proposed distributed tracking algorithms use fuzzy control and adaptive control techniques to cope with system nonlinear uncertainties of multiple mechanical systems. Moreover, the improved control strategy not only reduces fuzzy rules but also has higher control accuracy.

The kinematic response (including plastic deformation, failure initiation and fracture) of a soft‐skinned vehicle (represented by a F800 series single‐unit truck) to the detonation of a landmine shallow‐buried in (either dry or saturated sand) underneath the vehicle’s front right wheel is analyzed computationally. The computational analysis included the interactions of the gaseous detonation products and the sand ejecta with the vehicle and the transient non‐linear dynamics response of the vehicle. A frequency analysis of the pressure versus time signals and visual observation clearly show the differences in the blast loads resulting from the landmine detonation in dry and saturated sand as well as the associated kinematic response of the vehicle. It is noted that the dominant vehicle structural response to the blast is similar to the first torsional structural mode shape obtained through an eigenvalue analysis of the system. Tailoring the vehicle modal response may result in more desirable modes of failure.

Very recently, driven by glassmakers and champagne houses, attention has been paid to the way to control effervescence and bubble nucleation. It was demonstrated that ascending bubbles act like many swirling motion generators in champagne glasses. It is the reason why a numerical modeling of flow dynamics induced by the effervescence in a glass of champagne has been carried out for the first time using the finite volume method by Computational Fluid Dynamics (CFD). The paper aims to discuss these issues.

In order to define source terms for flow regime and to reproduce accurately the nucleation process at the origin of effervescence, specific subroutines for the gaseous phase have been added to the main numerical model. These subroutines allow the modeling of bubbles behavior based on semi-empirical formulas relating to bubble diameter and velocity or mass transfer evolutions.

Details and development of the steps of modeling are presented in this paper, showing a good agreement between the results obtained by CFD simulations in a reference case of those from laser tomography and Particle Image Velocimetry experiments, validating the present model.

A numerical modeling of flow dynamics induced by the effervescence in a glass of champagne has been carried out for the first time using the finite volume method by CFD.