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The purpose of this paper is agile attitude control design with the novel three-dimensional (3D) magnetically suspended wheel (MSW) that is the preferred type for agile maneuvering compared to conventional control moment gyro due to frictionless, low vibration and long lifetime. This system does not require a separate steering law for pyramid arrangement to derive tilt angles. It is also conducting an agile maneuver with high accuracy despite the high-frequency disturbances.

In this paper, a disturbance observer-based attitude stabilization method is proposed for an agile satellite with a pyramid cluster of the novel 3D magnetically suspended wheel actuator. This strategy includes a disturbance observer and a linear quadratic regulator controller. The rotor shaft deflection of MSW is actively controlled to reduce vibration and producing gyro torque. The deflection angle of the pyramid cluster MSWs considered as control parameters. The closed-loop stability is proved by using the Lyapunov strategy. The efficiency and performance of the offered method verified by numerical simulation via MATLAB/SIMULINK software.

According to simulation results, the disturbance observer-based control controller stabilized the system with high accuracy and optimal tilt angles without any extra steering law equation. Hence, the system speed is increased, and the system error is minimized without separate steering law.

The magnetically suspended wheel is a new kind of inertia actuator for attitude control that has several benefits such as frictionless, high-speed rotor, clean environment and low vibration compared to the traditional wheel. It has complex nonlinear dynamics that cause have complicated controller design. The proposed strategy stabilizes the system and conducting an agile maneuver with high precision despite the high-frequency disturbances. It is applicable for some missions requiring high accuracies, like Earth observation and the solar observation mission that require a very accurate pointing control and a long lifetime.

This paper is the initial paper to design a pyramid array for magnetically suspended wheels. Compared to other research, this method doesn’t need a separate steering law of the MSWs cluster and presented optimal tilt angles with less computational. Also, it designs a disturbance observer-based controller for this system that proposed high accuracy and agile stabilization.

This paper aims to investigate numerically buoyancy-induced convection from a pair of differentially heated horizontal circular cylinders set side by side in a nanofluid-filled adiabatic square enclosure, inclined with respect to gravity so that the heated cylinder is located below the cooled one, using a two-phase model based on the double-diffusive approach assuming that the Brownian diffusion and thermophoresis are the only slip mechanisms by which the solid phase can develop a significant relative velocity with respect to the liquid phase.

The system of the governing equations of continuity, momentum and energy for the nanofluid, and continuity for the nanoparticles, is solved by a computational code based on the SIMPLE-C algorithm. Numerical simulations are performed for Al₂O₃ + H₂O nanofluids using the average volume fraction of the suspended solid phase, the tilting angle of the enclosure, the nanoparticle size, the average nanofluid temperature and the inter-cylinder spacing, as independent variables.

The main results obtained may be summarized as follows: at high temperatures, the nanofluid heat transfer performance relative to that of the pure base liquid increases with increasing the average volume fraction of the suspended solid phase, whereas at low temperatures it has a peak at an optimal particle loading; the relative heat transfer performance of the nanofluid has a peak at an optimal tilting angle of the enclosure; the relative heat transfer performance of the nanofluid increases notably as the average temperature is increased, and just moderately as inter-cylinder spacing is increased and the nanoparticle size is decreased.

The two-phase computational code used in the present study incorporates three empirical correlations for the evaluation of the effective thermal conductivity, the effective dynamic viscosity and the coefficient of thermophoretic diffusion, all based on a high number of literature experimental data.

The paper aims to report on an integrated techno-economic framework for the performance analysis of energy production based on the renewable energy resources (RERs). Whilst the majority of existing studies have focussed on technical aspects of RER modelling, the proposed framework incorporates financial assessment into the process of appraising the alternatives of hydropower, wind energy and solar energy infrastructures. An approach to the optimal choice of RER deployment for a specific developing region is formulated and applied to Ghana.

A model comprising technical and economic parameters was developed for analysing the investment rankings of different RERs and comparing them to that of conventional energy sources such as the natural gas combined cycle (NGCC) electric plant. The analysis also included the carbon cost and power generation capacity. The total life cycle costing and levelised cost of energy generated from each resource were modelled for three corporate ownership structures: a public utility that is not tax-liable (no-tax case); organisational power generation for internal use, ultimately concerned with its after-tax costs (after-tax case); and an independent power producer for the market, with before-tax revenues covering all costs (before-tax case).

Using the empirical data from Ghana together with the proposed framework, it is shown that when carbon incentives are provided, the hydroelectric and wind conversion infrastructures can effectively compete with the conventional NGCC in this country, whilst with no carbon credit, NGCC still appears to be the most viable option.

Policy-related recommendations on carbon incentives and preferential power purchase prices, which are critical for widespread RER deployment, can be directly derived from this research.

The study represents a comprehensive decision-making tool that can be used in regulatory and investment analysis on the expansion of RER systems in the developing countries.

The purpose of this paper is to investigate a wall-integrated solar chimney for passive ventilation of a building cavity. Ventilation is required to improve the circulation of air in the built environment. This can be achieved through natural or forced convection. Natural circulation can be driven by renewable energy, and so it promotes sustainable exploitation of energy resources. Solar energy is one of the promising renewable energy resources.

The chimney was designed to face the Equator on the wall of a room which required ventilation. Mean monthly daily heating and cooling loads of the room were computed with and without a solar chimney by using hourly meteorological data from nine different weather sites at low, medium and high latitudes. The chimney was implemented with and without airflow control, and simulated by using the ESP-r software.

Results show that the solar chimney with airflow control marginally reduced the heating load in the building envelope, with a similar effect being exhibited by the chimney with uncontrolled airflow. The cooling load was reduced by the controlled airflow at all the nine sites. In contrast, the uncontrolled airflow increased the cooling load at some sites. In addition, the chimney with airflow control reduced the annual total thermal load at all the sites, while the chimney with uncontrolled airflow raised the total thermal load at some locations.

The performance of solar chimneys designed with and without airflow control systems has been investigated under the same prevailing meteorological conditions at a given site. Findings show that controlling airflow in a solar chimney reduces the total thermal load in the built environment. This information can be applied in different parts of the world.

The purpose of this paper is to present a critical review of the key trends in the integration of photovoltaic (PV) facilities into the built environment in cities. This is regarded as part of a series of measures towards wider use of renewable energy sources.

The problem has been approached from the point that cities are consumers of large amounts of energy. They require uninterrupted energy supply but with dynamic power profile. Mainly consumption of energy generated from fossil fuels is present nowadays with significant pollution of the environment as a consequence. The sustainable energy transition in cities means increasing the supply of energy from renewable sources.

The paper points to the integration of PV renewable systems in the built environment, opportunities and constraints, design conditions and tools. The consideration of the constraints which creates urban environment is carried out to understand the complexity of selecting locations in the cities. The paper gives an overview of the possibilities of PV systems integration in the built environment and discusses physical limitations in the urban environment and simulation tools as well as challenges and research and development issues.

The paper offers a critical review of the PV applications which have been illustrated with examples from developed countries. However, examples from developing markets have not been considered. Future work would address this limitation and enable the discussion from a comparative perspective.

The study gives a comprehensive overview of PV integrations in contemporary cities, stimulating architects’ practitioners to acquire the PV technology and aesthetics, and to apply it in future developments.

Observing the use of PV applications from the perspective of architects and designers the discussion and examples covered in this paper offers an original review, which provides the base future in-depth studies on PV applications in various contexts.

Spain has one of the greatest photovoltaic potentials in Europe. The boom suffered in the photovoltaic sector during the years 2007 and 2008 led to instability in the electrical system, prompting the legislator to develop a large number of legislative changes trying to control the electric system tariff deficit. These measures profoundly affected plant owners creating a non-transparent secondary market, which are not covered by the current exchange platforms. The purpose of this paper is to analyze the current situation of the photovoltaic market in Spain, try to understand it based on its historical sequence and propose efficiency improvement measures, based on the implementation of best practices and market mechanisms.

This paper studies the legislative evolution in the photovoltaic sector in Spain and its effect on owners and investors. The authors propose an intermediation system that improves the efficiency of the secondary market.

The authors propose an intermediation system that improves the efficiency of the secondary market.

The authors have not found any other paper that proposes the creation of a market for photovoltaic facilities to increase efficiency.

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

The purpose of this study is to investigate the effect of the strut size and tilt angle on the densification behavior, surface roughness and dimensional accuracy of the selective laser melting AlSi10Mg lattice structure was investigated in this study. In this study, the characteristics such as the density, up-skin and down-skin roughness and dimensional accuracy of selective laser melting forming technology manufacturing (SLMed) AlSi10Mg cellular lattice structure were carried. This work reveals the effect of the strut size and tilt angle on the geometric characteristics of SLMed AlSi10Mg and is benefit for controlling the forming performance of the SLMed cellular lattice structure.

Based on AlSi10Mg powder, the influence of the tilt angle changed from 10° to 45° with an increment of 5° were investigated, the influence of the strut size was varied from 0.4 mm to 1.2 mm with an increment of 0.2 mm were investigated. The characteristics such as the density, up-skin and down-skin roughness, dimensional accuracy and mechanical properties of SLM-ed AlSi10Mg cellular lattice structure was carried.

Greater than 99% relative density can be achieved for different strut size when optimal process parameters are used. In the optimized process interval, the struts with a tilt angle of 10° can still be formed well, which is higher than the design limit of the inclined angle given in the related literature. The tilt angle has a significant effect on the surface roughness of the strut. The microhardness reached to 157 ± 3 HV, and the maximum compressive strength was 58.86 MPa, with the optimal process parameters.

In this study, the characteristics such as the density, up-skin and down-skin roughness and dimensional accuracy of SLMed AlSi10Mg cellular lattice structure were carried. With the optimal geometric parameters, the authors tested microhardness and compressive strength of the cellular lattice structure. The results of this study provide theoretical and experimental basis for the realization of high-quality manufacturing and optimization design of aluminum alloy cellular lattice structure, which will meet more diversified industrial needs.

The principle of the medial axis calculation is complicated and difficult to implement. Moreover, the accuracy is not high. Then, as the generated path has an endpoint at the boundary of the polygon, burrs may appear on the surface of the molded piece. This paper aims to improve the warpage deformation of SLM molded parts and the surface quality of molded parts, an improved mid-axis path generation algorithm is proposed.

First, the center point is calculated by the seed point growth method based on the distance transform, and the obtained medial axis has high precision and is suitable for simple polygons and complex polygons. Then, based on the extracted medial axis, a preliminary path is generated, the path is trimmed with MATLAB to remove the redundant path. Finally, a scan along the contour of the polygon is performed to improve the surface quality of the molded part.

The algorithm reduces the internal stress generated during the molding process by continuously changing the scanning direction of the path along the boundary curve of the scanning area, thereby reducing the amount of warpage of the molded part. The result of extraction has a higher precision and wider scope of application than other methods to extract central axis, such as the Voronoi diagram-based method. The path is trimmed to remove redundant paths and the polygon boundaries are scanned to further improve the surface quality of the molded part. The results show that warpage deformation of the proposed algorithm is significantly smaller than the other two methods, thus the forming precision is higher.

An improved medial axis path generation algorithm is proposed in this paper. The proposed method is applied to improve warpage deformation occurring in the SLM process. Seed point growth of distance transformation is used to extracted central axis. The result of extraction has a higher precision and wider scope of application than other methods to extract central axis, such as the Voronoi diagram-based method.

The purpose of this paper is to give reviews on the platform modeling and design of a controller for autonomous vertical take-off and landing (VTOL) tilt rotor hybrid unmanned aerial vehicles (UAVs). Nowadays, UAVs have experienced remarkable progress and can be classified into two main types, i.e. fixed-wing UAVs and VTOL UAVs. The mathematical model of tilt rotor UAV is time variant, multivariable and non-linear in nature. Solving and understanding these plant models is very complex. Developing a control algorithm to improve the performance and stability of a UAV is a challenging task.

This paper gives a thorough description on modeling of VTOL tilt rotor UAV from first principle theory. The review of the design of both linear and non-linear control algorithms are explained in detail. The robust flight controller for the six degrees of freedom UAV has been designed using H-infinity optimization with loop shaping under external wind and aerodynamic disturbances.

This review will act as a basis for the future work on modeling and control of VTOL tilt rotor UAV by the researchers. The development of self-guided and fully autonomous UAVs would result in reducing the risk to human life. Civil applications include inspection of rescue teams, terrain, coasts, border patrol buildings, police and pipelines. The simulation results show that the controller achieves robust stability, good adaptability and robust performance.

The review articles on quadrotors/quadcopters, hybrid UAVs can be found in many literature, but there are comparatively a lesser amount of review articles on the detailed description of VTOL Tilt rotor UAV. In this paper modeling, platform design and control algorithms for the tilt rotor are presented. A robust H-infinity loop shaping controller in the presence of disturbances is designed for VTOL UAV.