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Magnetic Levitation (Maglev) stabilization has been the area of interest for various engineering fields. Classical controllers (like PID) can handle linear plants easily but when the plants are non-linear they have difficulties to deal with. This paper presents the Neural Network controller that are nonlinear in nature and can handle the controlling of nonlinear plants. The Gradient Descent algorithm...
In this work, numerical analyses have been conducted for the flow of fluid in the absorber tube of a cylindrical parabolic trough collector through CFD technique. The efficiency of the absorber tube can be improved by increasing the overall surface area, which increases the heat transfer to the working fluid. Analyses of the same have been done to see to what degree the insertions cause an improvement...
Feasibility of chemically synthesized nanowire catalyst embedded silicon microelectromechanical systems (MEMS) monopropellant microthruster has been demonstrated. Due to exothermic reaction process, sustenance of thrust generation does not require any heating of propellant thus minimizing electrical power requirement. The thruster device integrates inlet nozzle,...
In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible...
Performance estimation of an application on any processor is becoming a essential task, specially when the processor is used for high performance computing. Our work here presents a model to estimate performance of various applications on a modern GPU. Recently, GPUs are getting popular in the area of high performance computing along with original application domain of graphics. We have chosen FERMI...
In this paper we propose a framework for optimum steering input determination of all-wheel steer vehicles (AWSV) on rough terrains. The framework computes the steering input which minimizes the tracking error for a given trajectory. Unlike previous methodologies of computing steering inputs of car-like vehicles, the proposed methodology depends explicitly on the vehicle dynamics and can be extended...
In this paper we propose a novel physics based motion planning and trajectory generation framework for vehicle operating on uneven terrains. The proposed framework provides for a fully 3D analysis of the dynamic constraints of the vehicle on uneven terrain and hence comes as a better approach than the existing motion planning framework which makes simplifying assumptions for the terrain conditions...
In this paper a novel suspension mechanism for rough terrain mobility is proposed. The proposed mechanism is simpler than the existing suspension mechanism in the sense that the number of links and joints has been significantly reduced without compromising the climbing ability of the rover. We explore the use of compliant elements like springs for passively controlling the degree of freedom of the...
The mathematical model of any device provides an insight into the complete behavior of the physical system that reduces the problem to its essential characteristics. The floating admittance matrix (FAM) approach is a neat method of mathematical modeling of electronic devices and its uses in circuits. The zero sum property of the floating admittance matrix provides a check to proceed further or reobserve...
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