scholarly journals Multi-DOF WEC Performance in Variable Bathymetry Regions Using a Hybrid 3D BEM and Optimization

Energies ◽  
2019 ◽  
Vol 12 (11) ◽  
pp. 2108 ◽  
Author(s):  
Markos Bonovas ◽  
Kostas Belibassakis ◽  
Eugen Rusu
Keyword(s):  
Degrees Of Freedom ◽  
Bottom Topography ◽  
Diffraction Radiation ◽  
Layer Model ◽  
Floating Bodies ◽  
Power Extraction ◽  
Multiple Degrees Of Freedom ◽  
Coupled Mode ◽  
Wave Energy Converters ◽  
Oscillation Modes

In the present work a hybrid boundary element method is used, in conjunction with a coupled mode model and perfectly matched layer model, for obtaining the solution of the propagation/diffraction/radiation problems of floating bodies in variable bathymetry regions. The implemented methodology is free of mild-slope assumptions and restrictions. The present work extends previous results concerning heaving floaters over a region of general bottom topography in the case of generally shaped wave energy converters (WECs) operating in multiple degrees of freedom. Numerical results concerning the details of the wave field and the power output are presented, and the effects of WEC shape on the optimization of power extraction are discussed. It is demonstrated that consideration of heave in combination with pitch oscillation modes leads to a possible increase of the WEC performance.

scholarly journals A Novel Method for Estimating Wave Energy Converter Performance in Variable Bathymetry Regions and Applications

Energies ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 2092 ◽  
Author(s):  
Kostas Belibassakis ◽  
Markos Bonovas ◽  
Eugen Rusu
Keyword(s):  
Wave Field ◽  
Wave Energy ◽  
Water Waves ◽  
Bottom Topography ◽  
Wave Energy Converter ◽  
Diffraction Radiation ◽  
Floating Bodies ◽  
Energy Converter ◽  
Coupled Mode ◽  
Energy Absorbers

A numerical model is presented for the estimation of Wave Energy Converter (WEC) performance in variable bathymetry regions, taking into account the interaction of the floating units with the bottom topography. The proposed method is based on a coupled-mode model for the propagation of the water waves over the general bottom topography, in combination with a Boundary Element Method for the treatment of the diffraction/radiation problems and the evaluation of the flow details on the local scale of the energy absorbers. An important feature of the present method is that it is free of mild bottom slope assumptions and restrictions and it is able to resolve the 3D wave field all over the water column, in variable bathymetry regions including the interactions of floating bodies of general shape. Numerical results are presented concerning the wave field and the power output of a single device in inhomogeneous environment, focusing on the effect of the shape of the floater. Extensions of the method to treat the WEC arrays in variable bathymetry regions are also presented and discussed.

scholarly journals Design, Fabrication, and Testing of a Novel 3D 3-Fingered Electrothermal Microgripper with Multiple Degrees of Freedom

Micromachines ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 444
Author(s):  
Guoning Si ◽  
Liangying Sun ◽  
Zhuo Zhang ◽  
Xuping Zhang
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Properties ◽  
Three Dimensional ◽  
Polyimide Film ◽  
Zebrafish Embryos ◽  
Multiple Degrees Of Freedom ◽  
Electrothermal Actuator ◽  
3D Space ◽  
Pick And Place

This paper presents the design, fabrication, and testing of a novel three-dimensional (3D) three-fingered electrothermal microgripper with multiple degrees of freedom (multi DOFs). Each finger of the microgripper is composed of a V-shaped electrothermal actuator providing one DOF, and a 3D U-shaped electrothermal actuator offering two DOFs in the plane perpendicular to the movement of the V-shaped actuator. As a result, each finger possesses 3D mobilities with three DOFs. Each beam of the actuators is heated externally with the polyimide film. The durability of the polyimide film is tested under different voltages. The static and dynamic properties of the finger are also tested. Experiments show that not only can the microgripper pick and place microobjects, such as micro balls and even highly deformable zebrafish embryos, but can also rotate them in 3D space.

scholarly journals The emerging technology of biohybrid micro-robots: a review

2021 ◽  
Author(s):  
Zening Lin ◽  
Tao Jiang ◽  
Jianzhong Shang
Keyword(s):  
Self Assembly ◽  
Degrees Of Freedom ◽  
High Energy ◽  
Living Cells ◽  
Multiple Degrees Of Freedom ◽  
The Past ◽  
Great Prevalence ◽  
Performance Decline ◽  
High Energy Efficiency ◽  
Living Tissues

Abstract In the past few decades, robotics research has witnessed an increasingly high interest in miniaturized, intelligent, and integrated robots. The imperative component of a robot is the actuator that determines its performance. Although traditional rigid drives such as motors and gas engines have shown great prevalence in most macroscale circumstances, the reduction of these drives to the millimeter or even lower scale results in a significant increase in manufacturing difficulty accompanied by a remarkable performance decline. Biohybrid robots driven by living cells can be a potential solution to overcome these drawbacks by benefiting from the intrinsic microscale self-assembly of living tissues and high energy efficiency, which, among other unprecedented properties, also feature flexibility, self-repair, and even multiple degrees of freedom. This paper systematically reviews the development of biohybrid robots. First, the development of biological flexible drivers is introduced while emphasizing on their advantages over traditional drivers. Second, up-to-date works regarding biohybrid robots are reviewed in detail from three aspects: biological driving sources, actuator materials, and structures with associated control methodologies. Finally, the potential future applications and major challenges of biohybrid robots are explored. Graphic abstract

scholarly journals Integrated structured light architectures

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Randy Lemons ◽  
Wei Liu ◽  
Josef C. Frisch ◽  
Alan Fry ◽  
Joseph Robinson ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Temporal Distribution ◽  
Multiple Degrees Of Freedom ◽  
Beam Combination ◽  
Angular Momenta ◽  
Field Control ◽  
Topological States ◽  
Spatio Temporal ◽  
Temporal Field ◽  
Structural Versatility

AbstractThe structural versatility of light underpins an outstanding collection of optical phenomena where both geometrical and topological states of light can dictate how matter will respond or display. Light possesses multiple degrees of freedom such as amplitude, and linear, spin angular, and orbital angular momenta, but the ability to adaptively engineer the spatio-temporal distribution of all these characteristics is primarily curtailed by technologies used to impose any desired structure to light. We demonstrate a laser architecture based on coherent beam combination offering integrated spatio-temporal field control and programmability, thereby presenting unique opportunities for generating light by design to exploit its topology.

scholarly journals Novel piezoelectric crawling robot with multiple degrees of freedom

AIP Advances ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 075306
Author(s):  
Ruikun Niu ◽  
Yu Guo
Keyword(s):  
Degrees Of Freedom ◽  
Multiple Degrees Of Freedom

scholarly journals Hardware-in-the-Loop Validation of Model Predictive Control of a Discrete Fluid Power Power Take-Off System for Wave Energy Converters

Energies ◽  
2019 ◽  
Vol 12 (19) ◽  
pp. 3668
Author(s):  
Anders H. Hansen ◽  
Magnus F. Asmussen ◽  
Michael M. Bech
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Wave Energy ◽  
Fluid Power ◽  
Wave Power ◽  
Reactive Control ◽  
Power Extraction ◽  
Wave Energy Converters ◽  
Extraction Algorithm ◽  
Energy Converters

Model predictive control based wave power extraction algorithms have been developed and found promising for wave energy converters. Although mostly proven by simulation studies, model predictive control based algorithms have shown to outperform classical wave power extraction algorithms such as linear damping and reactive control. Prediction models and objective functions have, however, often been simplified a lot by for example, excluding power take-off system losses. Furthermore, discrete fluid power forces systems has never been validated experimentally in published research. In this paper a model predictive control based wave power extraction algorithm is designed for a discrete fluid power power take-off system. The loss models included in the objective function are based on physical models of the losses associated with discrete force shifts and throttling. The developed wave power extraction algorithm directly includes the quantized force output and the losses models of the discrete fluid power system. The experimental validation of the wave power extraction algorithm developed in the paper shown an increase of 14.6% in yearly harvested energy when compared to a reactive control algorithm.

scholarly journals BIOMIMETIC DESIGN OF LOW STIFFNESS ACTUATOR SYSTEMS FOR PROSTHETIC LIMBS

2011 ◽  
Author(s):  
D. L. Russell ◽  
M. McTavish
Keyword(s):  
Mechanical Properties ◽  
Degrees Of Freedom ◽  
Analytical Techniques ◽  
Energetic Costs ◽  
Multiple Degrees Of Freedom ◽  
Prosthetic Limbs ◽  
Limb Stiffness ◽  
Human Arm ◽  
Biomimetic Approach ◽  
Low Stiffness

The various relationships that are possible between the mechanical properties of single actuators and the overall mechanism (in this case a human arm with or without a prosthetic elbow) are discussed. Graphical and analytical techniques for describing the range of overall limb stiffnesses that are achievable and for characterizing the overall limb stiffness have been developed. Using a biomimetic approach and, considering energetic costs, stability and complexity, the implications of choosing passive or active implementations of stiffness are discussed. These techniques and approaches are particularly applicable with redundant (agonist - antagonist) actuators and multiple degrees of freedom. Finally, a novel biomimetic approach for control is proposed.

A multi-layer model for nonlinear internal wave propagation in shallow water

2012 ◽  
Vol 695 ◽  
pp. 341-365 ◽  
Author(s):  
Philip L.-F. Liu ◽  
Xiaoming Wang
Keyword(s):  
Wave Propagation ◽  
Internal Wave ◽  
Shallow Water ◽  
Internal Waves ◽  
Bottom Topography ◽  
Laboratory Data ◽  
Constant Density ◽  
Layer Model ◽  
Fluid System ◽  
Nonlinear Internal Wave

AbstractIn this paper, a multi-layer model is developed for the purpose of studying nonlinear internal wave propagation in shallow water. The methodology employed in constructing the multi-layer model is similar to that used in deriving Boussinesq-type equations for surface gravity waves. It can also be viewed as an extension of the two-layer model developed by Choi & Camassa. The multi-layer model approximates the continuous density stratification by an $N$-layer fluid system in which a constant density is assumed in each layer. This allows the model to investigate higher-mode internal waves. Furthermore, the model is capable of simulating large-amplitude internal waves up to the breaking point. However, the model is limited by the assumption that the total water depth is shallow in comparison with the wavelength of interest. Furthermore, the vertical vorticity must vanish, while the horizontal vorticity components are weak. Numerical examples for strongly nonlinear waves are compared with laboratory data and other numerical studies in a two-layer fluid system. Good agreement is observed. The generation and propagation of mode-1 and mode-2 internal waves and their interactions with bottom topography are also investigated.

Vibration analysis of multiple degrees of freedom mechanical system with dry friction

2012 ◽  
Vol 227 (7) ◽  
pp. 1505-1514 ◽  
Author(s):  
SD Yu ◽  
BC Wen
Keyword(s):  
Mechanical System ◽  
Dry Friction ◽  
Degrees Of Freedom ◽  
Simple Procedure ◽  
Mathematical Problem ◽  
Equations Of Motion ◽  
Inequality Constraints ◽  
Integration Scheme ◽  
Time Step ◽  
Multiple Degrees Of Freedom

This article presents a simple procedure for predicting time-domain vibrational behaviors of a multiple degrees of freedom mechanical system with dry friction. The system equations of motion are discretized by means of the implicit Bozzak–Newmark integration scheme. At each time step, the discontinuous frictional force problem involving both the equality and inequality constraints is successfully reduced to a quadratic mathematical problem or the linear complementary problem with the introduction of non-negative and complementary variable pairs (supremum velocities and slack forces). The so-obtained complementary equations in the complementary pairs can be solved efficiently using the Lemke algorithm. Results for several single degree of freedom and multiple degrees of freedom problems with one-dimensional frictional constraints and the classical Coulomb frictional model are obtained using the proposed procedure and compared with those obtained using other approaches. The proposed procedure is found to be accurate, efficient, and robust in solving non-smooth vibration problems of multiple degrees of freedom systems with dry friction. The proposed procedure can also be applied to systems with two-dimensional frictional constraints and more sophisticated frictional models.

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