Technology advances each day, with every advancement new and improved products are accompanied. Robots come in various shapes and sizes, from the size of a fly to the size of a human being. The purpose of this project is to further our understanding in how to build a robot, more specifically, a mono wheeled robot and design control systems enabling it to balance by itself. The robot is a one-wheeler with ducted fans on top. It is to balance with the help of the wheel in one direction and with ducted fans in the perpendicular direction.The robot succeeded in balancing with the wheel. However with help of the fans the robot only managed to balance for approximately 20 seconds. Analysing the frequency content from figures 5.2, 5.4, 5.3 resulted in finding frequencies under 1Hz being dominant in the output signals from the control system, observing this a clear oscillation frequency was only determined for the ducted fan system while the wheel system was non periodic. The study concluded that one cannot stabilize the control systems individually because that can lead to disturbances for the other. The results showed that even though the wheel’s control system was stable, it was affected by the second control system, causing disturbances. / För varje dag som går tar tekniken ett steg frammåt, hela tiden med nya och förbättrade produkter. Robotar kommer i olika former och storlekar, från storleken av en insekt till storleken av en människa. Syftet med detta projekt är att utvidga förståelsen över hur man bygger en robot, mer specifikt, en enhjulig robot samt hur man konstruerar ett reglersystem för att få roboten att balansera på egen hand. Roboten är en enhjuling med fläktar. Syftet är att bygga och programmera den till att balansera på egen hand, i ena riktningen med hjulet och i andra riktningen med fläktarna. Roboten lyckades balansera med hjälp av hjulet, men med fläktsystemet balancerade roboten endast i cirka 20 sekunder. Med hjäp av frekvenspspekrumen i figurer 5.2, 5.4, 5.3 försöktes en oscillationsfrekvens och periodtid tas fram, detta erhölls endast för fläktsystemet då hjulsystemet inte gav en tydlig oscillationsfrekvens. Slutsatsen som drogs var att det inte går att stabilisera de individuella systemen separat och sedan kombinera dem. Detta på grund av att det leder till att det ena systemet riskerar att agera som en störsignal till det andra systemet.

Ducted fan vehicles possess a superior ability to maximize payload capacity while minimizing vehicle size. Their ability to both hover and fly at high speed is a key advantage for information-gathering missions, particularly when close proximity to a target is essential. However, the ducted fan's aerodynamic characteristics pose difficulties for stable vehicle flight and therefore require complex control algorithms. In particular, they exhibit a large nose-up pitching moment during wind gusts and when transitioning from hover to forward flight. Understanding ducted fan aerodynamic behavior and how it can be altered through flow control techniques are the two prime objectives of this work. This dissertation provides a new paradigm for modeling the ducted fan's nonlinear behavior and new methods for changing the duct aerodynamics using active flow control. Steady and piezoelectric synthetic jet blowing are employed in the flow control concepts and are compared. The new aerodynamic model captures the nonlinear characteristics of the force, moment, and power data for a ducted fan, while representing these terms in a set of simple equations. The model attains excellent agreement with current and legacy experimental data using twelve non-dimensional constants. Synthetic jet actuators (SJA) have potential for use in flow control applications in UAVs with limited size, weight, and power budgets. Piezoelectric SJAs for a ducted fan vehicle were developed through two rounds of experimental designs. The final SJA design attained peak jet velocities in the range of 225 ft/sec (69 m/s) for a 0.03â x 0.80â rectangular slot. To reduce the magnitude of the nose-up pitching moment in cross-winds, two flow control concepts were explored: flow separation control at the duct lip, and flow turning at the duct trailing edge using a CoandÄ surface. Both concepts were experimentally proven to be successful. Synthetic jets and steady jets were capable of modifying the ducted fan flow to reduce pitching moment, but some cases required high values of steady blowing to create significant responses. Triggering leading edge separation on the duct lip was one application where synthetic jets showed comparable performance to steady jets operating at a blowing coefficient an order of magnitude higher. / Ph. D.

La récupération, grâce aux hydroliennes, de l’énergie cinétique de courants marins et fluviaux constitue une source d’énergie renouvelable considérable et prédictible. La simulation fine, par une description statistique instationnaire de type URANS, de l’écoulement autour d’une hydrolienne isolée à axe vertical, bi-rotor et munie d’un carénage (hydrolienne de type HARVEST) donne accès à une estimation précise de la puissance produite. Cependant, le coût élevé de cette approche URANS la rend inadaptée à la simulation d’un parc de machines. Une analyse de la littérature conduit à retenir un modèle basse-fidélité de type Blade Element Momentum (BEM) pour décrire à moindre coût l’effet du rotor de la turbine sur l’écoulement, dans le contexte d’une description 2D (coupe horizontale). La performance de l’hydrolienne est alors prédite par un calcul RANS incluant des termes sources distribués dans un anneau rotor virtuel et conservant le maillage des parties fixes (carénage). Ces termes sources sont construits grâce à une procédure originale exploitant les conditions locales de l’écoulement en amont des cellules du rotor virtuel et le débit de l’écoulement traversant l’hydrolienne. Les coefficients hydrodynamiques utilisés pour le calcul des termes sources BEM-RANS sont construits une fois pour toutes en exploitant une série de simulations URANS préliminaires ; ils intègrent les effets du carénage et le fonctionnement de chaque rotor à une vitesse de rotation optimale (maximisant la puissance produite) grâce au système de régulation de l’hydrolienne. Le modèle BEM-RANS développé est validé par comparaison avec des simulations URANS de référence : il fournit une estimation fiable de la puissance produite (erreur de quelques % par rapport à l’approche URANS) pour un coût réduit de plusieurs ordres de grandeur. Ce modèle est appliqué à l'analyse de la puissance produite par une rangée d’hydroliennes HARVEST dans un canal pour différents facteurs de blocage et d’espacement latéral ainsi qu’à une ferme marine composée de trois hydroliennes. / The capture, thanks to hydrokinetic turbines, of the kinetic energy generated by sea and river currents provides a significant and predictable source of renewable energy. The detailed simulation, using an unsteady statistical description of URANS type, of the flow around an isolated water turbine of HARVEST type (cross flow vertical axis ducted water turbine) provides an accurate estimate of the power output. However, the cost of the URANS approach is much too expensive to be applied to a farm of several turbines. A review of the literature leads to select a low-fidelity model of Blade Element Momentum (BEM) type to describe at a reduced cost the rotor effect on the flow, in a 2D context (horizontal cross-section). The turbine performance is then predicted using a steady RANS simulation including source terms distributed within a virtual rotor ring and preserving the mesh of the turbine fixed parts (duct). These source terms are derived using an original procedure which exploits both the local flow conditions upstream of the virtual rotor cells and the flow rate through the turbine. The hydrodynamic coefficients used to compute the BEM-RANS source terms are built once for all from a series of preliminary URANS simulations; they include the effects of the duct on the flow and the rotor operating at optimal rotational speed (maximizing the power output) thanks to the turbine regulation system. The BEM-RANS model is validated against reference URANS simulations: it provides a reliable prediction for the power output (within a few % of the URANS results) at a computational cost which is lowered by several orders of magnitude. This model is applied to the analysis of the power produced by a row of Vertical Axis Water Turbines in a channel for various values of the blockage ratio and lateral spacing as well as to a 3-machine sea farm.

This study presents a numerical investigation of ducted tidal turbines, employing three-dimensional Reynolds-averaged Navier-Stokes simulations. Bidirectional ducted turbines are modelled with and without aperture, referred to as ducted and open- centre turbines respectively. The work consists of two investigations. In the first, the turbine rotors are represented by actuator discs, a simplification which captures changes in linear momentum and thus the primary interaction of the turbine with the flow through and around the duct, while greatly reducing computational complexity. In the second investigation, the turbine rotors are represented through a CFD-integrated blade element momentum model, employing realistic rotor data, capturing swirl and blade drag in addition to the extraction of linear momentum. Both modelling techniques were employed to investigate the performances of bare, ducted, and open-centre turbines, relating these to the flow fields exhibited. For axial flow, substantial decreases in power generated by the ducted and open-centre turbines were found, relative to a bare turbine of equal total device diameter. For open-centre turbines, an increase in aperture size leads to a further reduction in power generated. Increased blockage was shown to positively affect the performance of all devices. Two further measures of performance were employed: power density, normalising the power by the rotor area, and basin efficiency, relating the power generated to the overall power removed from the flow. Moderate increases in power density can be achieved for the ducted and open-centre devices, while their basin efficiencies are of similar value to that of the bare turbine. For yawed inflow, the performance of the bare turbine decreases, whilst that of the ducted and open-centre turbines increases. This is due to an increased flow velocity following flow acceleration around the inlet lip of the duct and also an increase in effective blockage as ducts present greater projected frontal area when approached non-axially.

La raréfaction des ressources fossiles non renouvelables et le dérèglement climatique font de la question énergétique un enjeu d’envergure mondiale. L’exploitation de nouvelles sources d’énergie renouvelable devient alors un objectif de première importance. L’énergie produite à partir des courants marins suscite depuis quelques années un intérêt particulier. Le concept de turbine sous-marine, appelée hydrolienne, désigne le dispositif permettant de convertir l’énergie cinétique des courants marins en énergie électrique. Ce travail de recherche traite les problématiques que pose la conception des hydroliennes à axe horizontal. Il sera mis en évidence que le monde des hélices marines présente une piste intéressante pour l’étude du comportement hydrodynamique des hydroliennes. Certains concepteurs d’hydroliennes avancent que l’ajout d’un système de carénage est favorable pour améliorer le rendement hydrodynamique. L’étude du gain hydrodynamique à encombrement constant que pourrait procurer l’ajout d’un carénage a donc été choisie comme point de départ de ce travail de recherche. Pour répondre au besoin des industriels lié à une problématique de gain de masse, les matériaux composites présentent un atout considérable en raison de leurs excellents rapports «masse/résistance» et «masse/rigidité». Une réalisation d’un carénage en matériaux composites présentant le meilleur ratio «puissance/masse» a été obtenue. Un carénage d’hydrolienne est de par sa position particulièrement confronté à des chocs. Ceci peut s’avérer très délicat car la structure composite en question est soumise à des sollicitations sévères liées à l’environnement marin. L’impact sur un carénage d’hydrolienne a été traité en détail dans ce travail de recherche. / Against the backdrop of the increasing scarcity of non-renewable fossil resources and climate change, the energy problem has become a worldwide issue. Hence, the exploitation of new renewable energy sources becomes a worldwide goal of primary importance. The concept of the underwater turbine, called tidal current turbine, designates the device which allows the conversion of the kinetic energy produced by marine currents in electric energy. This research study examines the problems related to the design of horizontal axis tidal current turbines. The present study shows that the world of marine propellers, sometimes entirely left out by the designers of tidal current turbines, presents an interesting avenue of research with regard to the hydrodynamic behaviour of tidal current turbines. Certain designers of tidal current turbines use a duct and hold that the addition of the duct contributes to the improvement of the hydrodynamic performance. Therefore, the study of the hydrodynamic benefits of ducted turbine using a constant overall cross-section than the bare turbine was the starting point of the present research work. In order to meet the needs of the manufacturers of tidal current turbines, which is generally linked to a problem of mass gain, composite materials present a considerable asset on account of their excellent «mass/resistance» and «mass/rigidity» relations. A structural design of ducted tidal current turbines using composite materials has therefore been examined. Hence, the design of a composite duct which yields the best «power/mass» ratio has been proposed. The duct of the tidal current turbine is especially confronted by the impacts due to its particular position. The impact damage aspect has also been examined in detail in the present research study.

No description available.

Traditionally, the task of determining aircraft position and attitude for automatic control has been handled by the combination of an inertial measurement unit (IMU) with a Global Positioning System (GPS) receiver. In this configuration, accelerations and angular rates from the IMU can be integrated forward in time, and position updates from the GPS can be used to bound the errors that result from this integration. However, reliance on the reception of GPS signals places artificial constraints on aircraft such as small unmanned aerial vehicles (UAVs) that are otherwise physically capable of operation in indoor, cluttered, or adversarial environments. Therefore, this work investigates methods for incorporating a monocular vision sensor into a standard avionics suite. Vision sensors possess the potential to extract information about the surrounding environment and determine the locations of features or points of interest. Having mapped out landmarks in an unknown environment, subsequent observations by the vision sensor can in turn be used to resolve aircraft position and orientation while continuing to map out new features. An extended Kalman filter framework for performing the tasks of vision-based mapping and navigation is presented. Feature points are detected in each image using a Harris corner detector, and these feature measurements are corresponded from frame to frame using a statistical Z-test. When GPS is available, sequential observations of a single landmark point allow the point's location in inertial space to be estimated. When GPS is not available, landmarks that have been sufficiently triangulated can be used for estimating vehicle position and attitude. Simulation and real-time flight test results for vision-based mapping and navigation are presented to demonstrate feasibility in real-time applications. These methods are then integrated into a practical framework for flight in GPS-denied environments and verified through the autonomous flight of a UAV during a loss-of-GPS scenario. The methodology is also extended to the application of vehicles equipped with stereo vision systems. This framework enables aircraft capable of hovering in place to maintain a bounded pose estimate indefinitely without drift during a GPS outage.