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This paper shows a detailed modeling process for a hexacopter, taking as a control variables, the force and torques actuating on the vehicle. It also shows the hexacopter equilibrium manifold, with some numerical results that evidence the symmetry along the x and y axis. Finally, a nonlinear optimal control problem is formulated in order to see the hexacopter maneuverability capabilities, showing...
In this paper, the problem of minimizing the noise generated by the propeller and the control surfaces of a manned submarine is addressed. Cavitation attached to propeller blades and hydrofoils as well as vortex cavitation occurring at a distance from propeller blades and hydrofoils which is generated by turbulent boundary layers is considered. The main goal is to compute trajectories for different...
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