Publications related to On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

EGG Objective characterization of cybersickness symptoms towards navigation axis

Ronan Boulic, Khalil Haroun Achache, Ali Raed Ben Mustapha, Nana Tian

The current study sought to objectively evaluate cybersickness by utilizing Electrogastrogram (EGG) physiological data in relation to three different navigation axes: Translational movement along the longitudinal and lateral axes, and rotation along the ve ...

IEEE2023

Wind Turbine Wakes in Active Yaw Control: Numerical and Theoretical Studies

Mou Lin

In this thesis, we explore the best practice of simulating the wakes of the turbines under active yaw control (AYC) using large-eddy simulation (LES). In the first study, we validate the blade-element actuator disk model (ADM-BE) for a yawed wind turbine. ...

EPFL2023

Experimental investigation and analytical modelling of active yaw control for wind farm power optimization

Fernando Porté Agel, Haohua Zong

In this study, the physics and effectiveness of active yaw control under various wind conditions are investigated systematically, based on wind tunnel experiments and a new analytical wind farm model. The power and wake velocity measurements of a three-row ...

Pergamon-Elsevier Science Ltd2021

Passive Perching with Energy Storage for Winged Aerial Robots

Dario Floreano, Yegor Piskarev, William John Stewart, Luca Guarino

Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic e ...

2021

Power Maximization and Fatigue-Load Mitigation in a Wind-turbine Array by Active Yaw Control: an LES Study

Fernando Porté Agel, Mou Lin

In this study, we perform a multi-objective parametric study for an array of three miniature wind turbines subjected to active yaw control (AYC), with the objectives of maximizing the power and minimizing the fatigue loads. Using the time series extracted ...

2020

Wind farm power optimization via yaw angle control: A wind tunnel study

Fernando Porté Agel, Majid Bastankhah

Yaw angle control is known nowadays as a promising and effective technique to mitigate wake effects in wind farms. In this paper, we perform wind tunnel experiments to study the performance of a model wind farm with five turbine rows under a wide variety o ...

2019

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Auke Ijspeert, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert, Steve Walter Shue Heim

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

World Scientific Publ Co Pte Ltd2016

A wind-tunnel investigation of wind-turbine wakes in yawed conditions

Fernando Porté Agel, Majid Bastankhah

Wind-tunnel experiments were performed to study the performance of a model wind turbine and its wake characteristics in a boundary layer under different operating conditions, including different yaw angles and tip speed ratios. High-resolution particle ima ...

Journal of Physics2015

Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements

António Pedro Rodrigues de Aguiar

We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories ...

Pergamon-Elsevier Science Ltd2015

A Collision Resilient Flying Robot

Jean-Christophe Zufferey, Dario Floreano, Adrien Briod, Przemyslaw Mariusz Kornatowski

Flying robots that can locomote efficiently in GPS-denied cluttered environments have many applications, such as in search and rescue scenarios. However, dealing with the high amount of obstacles inherent to such environments is a major challenge for flyin ...

John Wiley & Sons2014