Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.19
I. Rasuceanu, C. Patrascu, Corneliu Balan
Capillary invasion of liquid is a spontaneous phenomenon that occurs at length scales smaller than the capillary length. By means of capillary action, numerous applications have been developed. We investigate the time-dependent displacement of a Newtonian oil using viscoelastic polyethylene oxide solutions. The setup implies a capillary tube in a horizontal configuration that was partially prefilled with oil. We emphasize the prefilling liquid’s role in the dynamics of the system and show the influence of the displacing liquid’s viscoelastic properties. We find significant changes in the capillary regime as the displacing liquid’s viscoelastic properties change.
{"title":"Oil displacement in capillary tubes using viscoelastic fluids","authors":"I. Rasuceanu, C. Patrascu, Corneliu Balan","doi":"10.13111/2066-8201.2023.15.4.19","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.19","url":null,"abstract":"Capillary invasion of liquid is a spontaneous phenomenon that occurs at length scales smaller than the capillary length. By means of capillary action, numerous applications have been developed. We investigate the time-dependent displacement of a Newtonian oil using viscoelastic polyethylene oxide solutions. The setup implies a capillary tube in a horizontal configuration that was partially prefilled with oil. We emphasize the prefilling liquid’s role in the dynamics of the system and show the influence of the displacing liquid’s viscoelastic properties. We find significant changes in the capillary regime as the displacing liquid’s viscoelastic properties change.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.3
A. Balint, S. Balint, A. Neculae
In their in-depth study on cardiac tissue modeling, Clayton and Panfilov [1] present several monodomain or bidomain approaches for the mathematical description of the cardiac tissue action potential dynamics. For simulation of wave propagation in the cardiac tissue, the monodomain descriptions which use integer order derivatives reproduce many of the phenomena that are observed experimentally and are thus an appropriate analysis tool. The main objection concerning the monodomain approaches is that the electrical circuit capacitor, appearing in these descriptions, is considered ideal (the space between the capacitor plates is vacuum) and the Curie effect is ignored. The Curie effect consists of the fact that in case of a dielectric material, if at a moment of time a constant external voltage is applied, due to the capacitance of the capacitor and the properties of the dielectric, a supplementary electrical current is produced, besides the ohmic current. This supplementary contribution cannot be neglected in some cases. In this paper, the Curie effect, describing the action potential dynamics in cardiac tissue, assumed isotropic, is incorporated in the monodomain equation. The novelty is that this approach does not use fractional order derivatives and the obtained mathematical description with these equations is objective.
{"title":"The Curie effect incorporation in the monodomain equation describing the action potential dynamics in cardiac tissue","authors":"A. Balint, S. Balint, A. Neculae","doi":"10.13111/2066-8201.2023.15.4.3","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.3","url":null,"abstract":"In their in-depth study on cardiac tissue modeling, Clayton and Panfilov [1] present several monodomain or bidomain approaches for the mathematical description of the cardiac tissue action potential dynamics. For simulation of wave propagation in the cardiac tissue, the monodomain descriptions which use integer order derivatives reproduce many of the phenomena that are observed experimentally and are thus an appropriate analysis tool. The main objection concerning the monodomain approaches is that the electrical circuit capacitor, appearing in these descriptions, is considered ideal (the space between the capacitor plates is vacuum) and the Curie effect is ignored. The Curie effect consists of the fact that in case of a dielectric material, if at a moment of time a constant external voltage is applied, due to the capacitance of the capacitor and the properties of the dielectric, a supplementary electrical current is produced, besides the ohmic current. This supplementary contribution cannot be neglected in some cases.\u0000In this paper, the Curie effect, describing the action potential dynamics in cardiac tissue, assumed isotropic, is incorporated in the monodomain equation. The novelty is that this approach does not use fractional order derivatives and the obtained mathematical description with these equations is objective.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.18
S. Radnef
Summarizing some old research on the dynamics of a pointall body along its own trajectory, this paper established the differential relationships between the principal curvatures of a 3D curve, that is the normal curvature and the torsional curvature, and its Cartesian coordinates. The differential system thus derived is actually a dynamical system of a representative point of the curve moving along it. This dynamic system is analyzed to see the possibilities of finding analytical solutions in finite terms, using Frobenius' integrability theorem for the general case and usual integration methods for the particular case consisting of the constant ratio between the two curvatures.
{"title":"Cartesian coordinates of an intrinsically defined curve","authors":"S. Radnef","doi":"10.13111/2066-8201.2023.15.4.18","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.18","url":null,"abstract":"Summarizing some old research on the dynamics of a pointall body along its own trajectory, this paper established the differential relationships between the principal curvatures of a 3D curve, that is the normal curvature and the torsional curvature, and its Cartesian coordinates. The differential system thus derived is actually a dynamical system of a representative point of the curve moving along it. This dynamic system is analyzed to see the possibilities of finding analytical solutions in finite terms, using Frobenius' integrability theorem for the general case and usual integration methods for the particular case consisting of the constant ratio between the two curvatures.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.6
Dennis Stefan Chelemen, Ionuț Bunescu, Mihai-Victor Pricop, M. Stoican
A study is performed to comprehensively evaluate the aerodynamic performance of a regional aircraft designed for short-haul flights, with a particular focus on the effects of distributed electric propulsion (DEP) on aerodynamic performances. This effort aligns well with a core objective of the Clean Aviation program to decrease carbon emissions within the aviation sector. To address this challenge, we propose a concept that considers incorporating electric motors to complement the conventional propulsion system of a regional aircraft wing. These electric motors have the capability to draw power from either the traditional turboprop engine or exclusively from an on-board electrical generator, providing an innovative pathway for emissions reduction. The central focus of this study revolves around a detailed examination of the aerodynamic efficacy with respect to the placement of engines within the wing. It seeks to ascertain whether optimal aerodynamic efficiency is achieved through the adoption of a greater number of smaller-diameter motors, characterized by reduced power output to the shaft. Alternatively, the study explores the prospect of employing a reduced number of motors, each possessing larger diameters and correspondingly augmented power output. While a larger motor size may intuitively suggest superiority in terms of thrust, it remains imperative to meticulously evaluate the potential influence of the associated drag factor. This research contributes to the growing body of knowledge in the realm of aviation by shedding light on the intricate interaction between aerodynamic efficiency and power output in the context of propulsion system design.
{"title":"The effects of distributed electric propulsion on the aerodynamics of a regional aircraft wing","authors":"Dennis Stefan Chelemen, Ionuț Bunescu, Mihai-Victor Pricop, M. Stoican","doi":"10.13111/2066-8201.2023.15.4.6","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.6","url":null,"abstract":"A study is performed to comprehensively evaluate the aerodynamic performance of a regional aircraft designed for short-haul flights, with a particular focus on the effects of distributed electric propulsion (DEP) on aerodynamic performances. This effort aligns well with a core objective of the Clean Aviation program to decrease carbon emissions within the aviation sector. To address this challenge, we propose a concept that considers incorporating electric motors to complement the conventional propulsion system of a regional aircraft wing. These electric motors have the capability to draw power from either the traditional turboprop engine or exclusively from an on-board electrical generator, providing an innovative pathway for emissions reduction. The central focus of this study revolves around a detailed examination of the aerodynamic efficacy with respect to the placement of engines within the wing. It seeks to ascertain whether optimal aerodynamic efficiency is achieved through the adoption of a greater number of smaller-diameter motors, characterized by reduced power output to the shaft. Alternatively, the study explores the prospect of employing a reduced number of motors, each possessing larger diameters and correspondingly augmented power output. While a larger motor size may intuitively suggest superiority in terms of thrust, it remains imperative to meticulously evaluate the potential influence of the associated drag factor. This research contributes to the growing body of knowledge in the realm of aviation by shedding light on the intricate interaction between aerodynamic efficiency and power output in the context of propulsion system design.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.11
D. Guglea, G. Cristea, L. Deleanu, T. F. Ionescu, G. Ojoc, D. Dima, C. Georgescu
This paper presents an analysis based on experimental data for pointing out the behavior of rapeseed oil when it is additivated with a modifier of friction and wear, the nano hexagonal Boron nitride. All tests are done on a four-ball machine, in mild regime. Test parameters were sliding velocity (0.38 m/s, 0.53 m/s, 0.69 m/s, corresponding to the spindle rotational speed of the four-ball machine of 1000 rpm, 1400 rpm, 1800 rpm (±10 rpm),), force (100 N – 300 N), test duration 1 h. There were calculated the average friction coefficient during the test and the average wear scar diameter (WSD) for each test. The same test parameters were done twice and the values in this paper are the average of these two tests. Wear was discussed for the same velocity range, in terms of WSD, but for comparing tests with different sliding velocity (implicitly, different sliding distances), there was used the wear rate of the wear scar diameter. The results on wear parameters, using additivated rapeseed oil, do not show spectacular results for the parameters tested in this study, but underline the “insensitivity” of the lubricants to the variation of the test regime (especially with respect to sliding speed), which is desirable for certain applications.
{"title":"Tribology of vegetal oils as base for eco-friendly nano additivated lubricants","authors":"D. Guglea, G. Cristea, L. Deleanu, T. F. Ionescu, G. Ojoc, D. Dima, C. Georgescu","doi":"10.13111/2066-8201.2023.15.4.11","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.11","url":null,"abstract":"This paper presents an analysis based on experimental data for pointing out the behavior of rapeseed oil when it is additivated with a modifier of friction and wear, the nano hexagonal Boron nitride. All tests are done on a four-ball machine, in mild regime. Test parameters were sliding velocity (0.38 m/s, 0.53 m/s, 0.69 m/s, corresponding to the spindle rotational speed of the four-ball machine of 1000 rpm, 1400 rpm, 1800 rpm (±10 rpm),), force (100 N – 300 N), test duration 1 h. There were calculated the average friction coefficient during the test and the average wear scar diameter (WSD) for each test. The same test parameters were done twice and the values in this paper are the average of these two tests. Wear was discussed for the same velocity range, in terms of WSD, but for comparing tests with different sliding velocity (implicitly, different sliding distances), there was used the wear rate of the wear scar diameter. The results on wear parameters, using additivated rapeseed oil, do not show spectacular results for the parameters tested in this study, but underline the “insensitivity” of the lubricants to the variation of the test regime (especially with respect to sliding speed), which is desirable for certain applications.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.1
Shabri C. Akmal, R. E. Poetro, Javensius Sembiring, S. Utama
LAPAN A2 is a Low Earth Orbit (LEO) satellite with the primary mission to monitor the area. In order to fulfil the mission’s objectives, the Satellite attitude must be controlled properly. One of the control processes under consideration is the output attitude estimation. Attitude estimation processes in satellites mostly use satellite sensor output transformation. The estimation process, however, cannot be carried out with only one sensor where the generated transformation does not represent the satellite actual attitude. Thus, a fusion of two or more attitude sensors is needed. However, measurement noise, such as the effect of the Earth's albedo on the sun sensor and the interference of the Earth's magnetic field on the magnetometer, is incorporated into the estimation process. Thus, a filtering process is needed. Hence, this study aims to investigate the utilization of the sensor output raw data fusion combined with the Kalman Filter algorithm to estimate the LAPAN-A2 satellite attitude in the form of Euler angle.
{"title":"Sensor Data Fusion using Kalman Filter for LAPAN-A2 Satellite Attitude Estimation","authors":"Shabri C. Akmal, R. E. Poetro, Javensius Sembiring, S. Utama","doi":"10.13111/2066-8201.2023.15.4.1","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.1","url":null,"abstract":"LAPAN A2 is a Low Earth Orbit (LEO) satellite with the primary mission to monitor the area. In order to fulfil the mission’s objectives, the Satellite attitude must be controlled properly. One of the control processes under consideration is the output attitude estimation. Attitude estimation processes in satellites mostly use satellite sensor output transformation. The estimation process, however, cannot be carried out with only one sensor where the generated transformation does not represent the satellite actual attitude. Thus, a fusion of two or more attitude sensors is needed. However, measurement noise, such as the effect of the Earth's albedo on the sun sensor and the interference of the Earth's magnetic\u0000field on the magnetometer, is incorporated into the estimation process. Thus, a filtering process is needed. Hence, this study aims to investigate the utilization of the sensor output raw data fusion combined with the Kalman Filter algorithm to estimate the LAPAN-A2 satellite attitude in the form of Euler angle.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.14
Razvan Alexandru Mihailescu, Ionel Simion
The aim of the study is the development of a VTOL (Vertical Takeoff and Landing) bicopter, utilizing Autodesk Inventor and Ultimaker Cura software. Design models were inspired by the V22-Osprey and Samson SA-2 from the Avatar movie. Composite materials (carbon fiber and PLA for 3D printing) were chosen due to their high-performance capabilities, as aerospace technology is in an ongoing development and evolution. The construction of the bicopter employed the FAAT method, and for control, the MATEK F411-WSE was utilized to process data from sensors, with specific firmware and the BetaFLIGHT interface for optimizing drone performance.
{"title":"Design and manufacture of a UAV using additive technologies and composite materials","authors":"Razvan Alexandru Mihailescu, Ionel Simion","doi":"10.13111/2066-8201.2023.15.4.14","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.14","url":null,"abstract":"The aim of the study is the development of a VTOL (Vertical Takeoff and Landing) bicopter, utilizing Autodesk Inventor and Ultimaker Cura software. Design models were inspired by the V22-Osprey and Samson SA-2 from the Avatar movie. Composite materials (carbon fiber and PLA for 3D printing) were chosen due to their high-performance capabilities, as aerospace technology is in an ongoing development and evolution. The construction of the bicopter employed the FAAT method, and for control, the MATEK F411-WSE was utilized to process data from sensors, with specific firmware and the BetaFLIGHT interface for optimizing drone performance.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.7
G. Cican, Georgiana Ichim
In this paper, both analytical and numerical analyses are conducted to study the behavior of a simplex time injector with a swirl chamber represented by a pin, designed to operate with kerosene. In an effort to reduce chemical pollution, the injector's performance when operating with alternative fuels such as biofuel and ethanol is investigated. Calculations have been performed to analyze the use of these three fuels at various pressures up to 100 bar. Analytical calculations were used to determine parameters such as spray angle, droplet size, fuel film thickness, and more. For a better visualization of the phenomena occurring during the injector's operation with these three fuels, numerical simulations were carried out using ANSYS, and the spray of droplets at various pressures at the injector inlet was presented. The study revealed that among the liquids studied, ethanol is the most optimal fuel. Ethanol has low viscosity and low density, making it easier to atomize by our injector compared to pure biofuel, which has higher density and viscosity values. The calculations demonstrated the qualities of ethanol following atomization, including a thin liquid film, a wide spray angle consisting of small-sized droplets, at any pressure difference, compared to the other studied fuels. It was observed that pressure difference has a significant impact on the atomization of a liquid. The best atomization qualities and optimal values were achieved when the pressure difference is high.
{"title":"The analytical and numerical study of alternative fuel injectors for the purpose of reducing chemical pollution in aviation sector","authors":"G. Cican, Georgiana Ichim","doi":"10.13111/2066-8201.2023.15.4.7","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.7","url":null,"abstract":"In this paper, both analytical and numerical analyses are conducted to study the behavior of a simplex time injector with a swirl chamber represented by a pin, designed to operate with kerosene. In an effort to reduce chemical pollution, the injector's performance when operating with alternative fuels such as biofuel and ethanol is investigated. Calculations have been performed to analyze the use of these three fuels at various pressures up to 100 bar. Analytical calculations were used to determine parameters such as spray angle, droplet size, fuel film thickness, and more. For a better visualization of the phenomena occurring during the injector's operation with these three fuels, numerical simulations were carried out using ANSYS, and the spray of droplets at various pressures at the injector inlet was presented. The study revealed that among the liquids studied, ethanol is the most optimal fuel. Ethanol has low viscosity and low density, making it easier to atomize by our injector compared to pure biofuel, which has higher density and viscosity values. The calculations demonstrated the qualities of ethanol following atomization, including a thin liquid film, a wide spray angle consisting of small-sized droplets, at any pressure difference, compared to the other studied fuels. It was observed that pressure difference has a significant impact on the atomization of a liquid. The best atomization qualities and optimal values were achieved when the pressure difference is high.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.15
Naji Anees Muqdad Naji, Adrian Stoica
The purpose of this study is to Design of a robust controller for the VEGA TVC using the L1-Adaptive Control. The performance of the system with an L1 adaptive controller has been compared with that of a classical controller. The L1 adaptive controller optimization is an efficient as well as an effective approach for the design of a robust controller. The L1 adaptive controller ensures the robustness of the system against uncertainties, noise, and disturbances[10]. In a launch vehicle parameters like mass, thrust, and aerodynamic properties are time-varying. Due to the time-varying nature of these parameters gain scheduling is necessary with the classical control design methods otherwise the closed-loop system might become unstable for some values of these parameters. This procedure is costly and has no robustness. In addition to this, there are external disturbances also which can make the control system unstable. This is the reason why robust control is necessary. There is a trade-off between achievable performance and robustness. So, we need to compromise between required performance and robustness as per the requirement.
{"title":"Design of a robust controller for the VEGA TVC using the L1-Adaptive Control","authors":"Naji Anees Muqdad Naji, Adrian Stoica","doi":"10.13111/2066-8201.2023.15.4.15","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.15","url":null,"abstract":"The purpose of this study is to Design of a robust controller for the VEGA TVC using the L1-Adaptive Control. The performance of the system with an L1 adaptive controller has been compared with that of a classical controller. The L1 adaptive controller optimization is an efficient as well as an effective approach for the design of a robust controller. The L1 adaptive controller ensures the robustness of the system against uncertainties, noise, and disturbances[10]. In a launch vehicle parameters like mass, thrust, and aerodynamic properties are time-varying. Due to the time-varying nature of these parameters gain scheduling is necessary with the classical control design methods otherwise the closed-loop system might become unstable for some values of these parameters. This procedure is costly and has no robustness. In addition to this, there are external disturbances also which can make the control system unstable. This is the reason why robust control is necessary. There is a trade-off between achievable performance and robustness. So, we need to compromise between required performance and robustness as per the requirement.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138606835","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-02DOI: 10.13111/2066-8201.2023.15.4.20
Bülent Si̇ğergök, Mehmet Çavaş
Real-time applications of autonomous systems are simulated in the computer environment to ensure that they operate error-free or with minimal errors. Coppeliasim, used in this field, is a platform where several sample models, robots, sensors and actuators are used together, a virtual world is created and interacted with it throughout the working period. Having a comprehensive toolbox, autonomous vehicle training and virtual reality, Coppeliasim's compatibility with Solidworks, a very useful design program for drawing, seems to be a great advantage. Due to these features, CoppeliaSim is very important in predicting and solving problems that may arise in many different applications. The propeller movement of the drone, which we designed with the Solidworks 2020 program and transferred to the Coppeliasim platform using the URDF exporter method, was carried out with the Coppeliasim simulator. In our work, Coppeliasim is synchronized with the simulator and MATLAB API codes. While the drone propellers were working on the Coppeliasim platform, angular speed and timing controls were made using the codes we prepared in the MATLAB program. Additionally, this work shows that drones or different autonomous systems can be controlled and designed before real-time operation using the Coppeliasim simulator and the MATLAB program.
{"title":"Implementing the Propeller Speed Control of Drone Designed in Solidworks in CoppeliaSim Robotic Simulator Environment with Codes Prepared in Matlab","authors":"Bülent Si̇ğergök, Mehmet Çavaş","doi":"10.13111/2066-8201.2023.15.4.20","DOIUrl":"https://doi.org/10.13111/2066-8201.2023.15.4.20","url":null,"abstract":"Real-time applications of autonomous systems are simulated in the computer environment to ensure that they operate error-free or with minimal errors. Coppeliasim, used in this field, is a platform where several sample models, robots, sensors and actuators are used together, a virtual world is created and interacted with it throughout the working period. Having a comprehensive toolbox, autonomous vehicle training and virtual reality, Coppeliasim's compatibility with Solidworks, a very useful design program for drawing, seems to be a great advantage. Due to these features, CoppeliaSim is very important in predicting and solving problems that may arise in many different applications. The propeller movement of the drone, which we designed with the Solidworks 2020 program and transferred to the Coppeliasim platform using the URDF exporter method, was carried out with the Coppeliasim simulator. In our work, Coppeliasim is synchronized with the simulator and MATLAB API codes. While the drone propellers were working on the Coppeliasim platform, angular speed and timing controls were made using the codes we prepared in the MATLAB program. Additionally, this work shows that drones or different autonomous systems can be controlled and designed before real-time operation using the Coppeliasim simulator and the MATLAB program.","PeriodicalId":37556,"journal":{"name":"INCAS Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138607218","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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