205 research outputs found

    Underwater Inductive Power Transfer with Wireless Charging Applications

    Get PDF
    Underwater wireless power transfer (UWPT) has become an area of great interest due to the advancement of autonomous underwater vehicles (AUVs) and electic boats. This paper seeks to investigate the variation of the coupling coefficient and power transfer in air versus in seawater. The design is based on a class E converter as it can achieve soft-switching inherently. I made the transmitter and receiver coils then measured self-inductance and parasitic resistance in air and in water. I noted that self-inductance increases when they are placed in water but the mutual inductance is lower. I then calculated the component values for the class E converter based on inductor values (140 μH and 105 μH) and simulated the circuit on LTspice. The power at the output was 74W which is lower than the required value. However, I noted that reducing the coils inductance values while maintaining the value of the other passive components increased the efficiency and power at the output upto four times (311W). The final value chosen for making the inductors was 115 μH and 75 μH as these values gave the maximum power at the output while achieving ZVS. I then designed the transmitter and receiver circuits on Altium and printed the PCBs. All the components were then soldered onto the board and the tests done

    Design of Capacitive Wireless Power Transfer Systems with Enhanced Power Density and Stray Field Shielding

    Get PDF
    Wireless power transfer is becoming relevant today because of its effectiveness and convenience. It has been employed into consumer electronics such as cellular charging and electric vehicle charging. In general, inductive wireless power transfer (IPT) is mostly used for WPT. IPT requires coils and power transfer enhancing material such as ferrite to transfer power. However, Capacitive wireless Power Transfer (CPT) appears as an alternative because it requires cost effective and light metal plate couplers. Among CPT couplers, Vertical (stacked) Four-Plate Coupler (V4PC) structure offers the advantage of higher input and output self-capacitances, rotational misalignment. Safety is one of the most important aspect of wireless power transfer. This thesis proposes a solution to minimize the leakage electric field of Vertical 4-Plate Couplers (V4PCs). It does so by finding the optimum value of circuit parameters. The effectiveness of the proposed solution is shown by experimental results

    UNMANNED GROUND VEHICLE (UGV) DOCKING, CONNECTION, AND CABLING FOR ELECTRICAL POWER TRANSMISSION IN AUTONOMOUS MOBILE MICROGRIDS

    Get PDF
    Autonomous Mobile Microgrids provide electrical power to loads in environments where humans either can not, or would prefer not to, perform the task of positioning and connecting the power grid equipment. The contributions of this work compose an architecture for electrical power transmission by Unmanned Ground Vehicles (UGV). Purpose-specific UGV docking and cable deployment software algorithms, and hardware for electrical connection and cable management, has been deployed on Clearpath Husky robots. Software development leverages Robot Operating System (ROS) tools for navigation and rendezvous of the autonomous UGV robots, with task-specific visual feedback controllers for docking validated in Monte-Carlo outdoor trials with a 73% docking rate, and application to wireless power transmission demonstrated in an outdoor environment. An “Adjustable Cable Management Mechanism” (ACMM) was designed to meet low cost, compact-platform constraints for powered deployment and retraction by a UGV of electrical cable subject to disturbance, with feed rates up to 1 m/s. A probe-and-funnel AC/DC electrical connector system was de- veloped for deployment on UGVs, which does not substantially increase the cost or complexity of the UGV, while providing a repeatable and secure method of coupling electrical contacts subject to a docking miss-alignment of up to +/-2 cm laterally and +/-15 degrees axially. Cabled power transmission is accomplished by a feed-forward/feedback control method, which utilizes visual estimation of the cable state to deploy electrical cable without tension, in the obstacle-free track of the UGV as it transverses to connect power grid nodes. Cabling control response to step-input UGV chassis velocities in the forward, reverse, and zero-point-turn maneuvers are presented, as well as outdoor cable deployment. This power transmission capability is relevant to diverse domains including military Forward-Operating-Bases, disaster response, robotic persistent operation, underwater mining, or planetary exploration

    Internet of Underwater Things and Big Marine Data Analytics -- A Comprehensive Survey

    Full text link
    The Internet of Underwater Things (IoUT) is an emerging communication ecosystem developed for connecting underwater objects in maritime and underwater environments. The IoUT technology is intricately linked with intelligent boats and ships, smart shores and oceans, automatic marine transportations, positioning and navigation, underwater exploration, disaster prediction and prevention, as well as with intelligent monitoring and security. The IoUT has an influence at various scales ranging from a small scientific observatory, to a midsized harbor, and to covering global oceanic trade. The network architecture of IoUT is intrinsically heterogeneous and should be sufficiently resilient to operate in harsh environments. This creates major challenges in terms of underwater communications, whilst relying on limited energy resources. Additionally, the volume, velocity, and variety of data produced by sensors, hydrophones, and cameras in IoUT is enormous, giving rise to the concept of Big Marine Data (BMD), which has its own processing challenges. Hence, conventional data processing techniques will falter, and bespoke Machine Learning (ML) solutions have to be employed for automatically learning the specific BMD behavior and features facilitating knowledge extraction and decision support. The motivation of this paper is to comprehensively survey the IoUT, BMD, and their synthesis. It also aims for exploring the nexus of BMD with ML. We set out from underwater data collection and then discuss the family of IoUT data communication techniques with an emphasis on the state-of-the-art research challenges. We then review the suite of ML solutions suitable for BMD handling and analytics. We treat the subject deductively from an educational perspective, critically appraising the material surveyed.Comment: 54 pages, 11 figures, 19 tables, IEEE Communications Surveys & Tutorials, peer-reviewed academic journa

    Firefighting Remote Exploration Device II

    Get PDF
    The need for “smart” recovery for disasters is at the forefront. Firefighters operating in indoor firegrounds are put at risk by the constantly changing environment. The use of robotics in firefighting can assist firefighters by informing them about different aspects of the fireground, such as the structural layout and temperature distribution. Taking inspiration from a design devised by a previous WPI Major Qualifying Project, our team prototyped a heat, water, and impact-resistant robot capable of navigating around obstacles in the fireground and returning relevant real-time data

    A Solution for the Efficient Takeoff and Flight Coordination of UAV Swarms

    Full text link
    [ES] En la última década, hemos asistido a un gran aumento del uso de los VANTs, debido principalmente a los avances en tecnología y materiales. Hoy en día, los VANTs ya no son solo juguetes para el entretenimiento, sino también importantes activos para muchas empresas. Los VANTs son muy versátiles y, por ello, existen muchas y variadas aplicaciones: misiones de búsqueda y rescate, vigilancia de fronteras, inspección térmica de tuberías, cinematografía y agricultura de precisión, solo por nombrar algunas. En estos momentos en que las industrias están incorporando soluciones basadas en VANTs, es crucial que la investigación avance. El cambio más destacado (con respecto a los VANTs) que presenciaremos en esta década, es el despliegue de grupos de VANTs trabajando en colaboración para cumplir un objetivo superior. Estos grupos, también llamados enjambres de drones, permiten realizar tareas más complejas, de forma más eficiente, o con mayor redundancia. Sin embargo, existen retos inherentes al funcionamiento de un enjambre de VANTs. Debe existir una buena comunicación entre los VANTs, deben evitarse las colisiones y los VANTs individuales deben utilizarse de forma inteligente para aumentar la eficiencia global. En este trabajo fin de master se da solución a algunos de los principales problemas relativos a los enjambres de vehículos aéreos no tripulados. En primer lugar, diseñamos varios patrones de formación de enjambres ´útiles. A continuación, incorporamos esas formaciones en dos procedimientos de despegue - una heurística y un algoritmo ya existente (KMA) - los cuales se prueban ampliamente para decidir cual es el más adecuado para despegar un enjambre de VANTs de la manera más eficiente. Una vez que somos capaces de despegar de forma sincronizada y segura un enjambre completo, continuamos nuestra investigación proporcionando una solución para mantener ese enjambre organizado, y estable durante una misión pre-planificada. Nuestra solución incorpora mecanismos para proporcionar resiliencia al enjambre, de tal manera que todos y cada uno de los VANTs pueden abandonar el enjambre (en pleno vuelo), sin perturbar a los demás en su misión.[EN] In the last decade, we have seen a great increase in the use of Unmanned Aerial Vehicles (UAVs). This is mainly due to advances in technology and materials. Nowadays, UAVs are no longer only toys for entertainment, but also important assets for many enterprises. UAVs are versatile, and thus many diverse applications exist: search and rescue missions, border surveillance, thermal pipeline inspection, cinematography, and precision agriculture, just to name a few. Now that the industry is incorporating UAVs based solutions, it is crucial that research advances. The most prominent change (with respect to UAVs) that we will witness in this decade, is the deployment of groups of UAVs working collaboratively to fulfill a higher goal. Those groups, also called swarms, allow us to perform more complex tasks, more efficiently, or with more redundancy. However, there are inherent challenges while operating a swarm of UAVs: there must be a good communication channel between the UAVs, collisions must be avoided, and the individual UAVs should be used intelligently in order to increase the overall efficiency. In this master thesis, a solution is given for some of the main problems concerning Unmanned Aerial Vehicle (UAV) swarms. First, we lay out various useful swarm formation patterns. Then we incorporate those formations in two takeoff procedures - an heuristic and an existing algorithm (KuhnMunkres algorithm (KMA)) - which are extensively tested to decide which one is the most appropriate for the takeoff of a swarm of UAVs in the most efficient manner. Once we are able to take off an entire swarm, we continue our research by providing a solution to keep that swarm organized and stable during a pre-planned mission. Such solution incorporates mechanisms to provide resilience to the swarm in such a manner that any number of UAVs can be removed from the swarm (mid-flight) without disturbing the others in their mission.Wubben, J. (2021). A Solution for the Efficient Takeoff and Flight Coordination of UAV Swarms. Universitat Politècnica de València. http://hdl.handle.net/10251/172620TFG

    Edge Intelligence : Empowering Intelligence to the Edge of Network

    Get PDF
    Edge intelligence refers to a set of connected systems and devices for data collection, caching, processing, and analysis proximity to where data are captured based on artificial intelligence. Edge intelligence aims at enhancing data processing and protects the privacy and security of the data and users. Although recently emerged, spanning the period from 2011 to now, this field of research has shown explosive growth over the past five years. In this article, we present a thorough and comprehensive survey of the literature surrounding edge intelligence. We first identify four fundamental components of edge intelligence, i.e., edge caching, edge training, edge inference, and edge offloading based on theoretical and practical results pertaining to proposed and deployed systems. We then aim for a systematic classification of the state of the solutions by examining research results and observations for each of the four components and present a taxonomy that includes practical problems, adopted techniques, and application goals. For each category, we elaborate, compare, and analyze the literature from the perspectives of adopted techniques, objectives, performance, advantages and drawbacks, and so on. This article provides a comprehensive survey of edge intelligence and its application areas. In addition, we summarize the development of the emerging research fields and the current state of the art and discuss the important open issues and possible theoretical and technical directions.Peer reviewe

    Edge Intelligence : Empowering Intelligence to the Edge of Network

    Get PDF
    Edge intelligence refers to a set of connected systems and devices for data collection, caching, processing, and analysis proximity to where data are captured based on artificial intelligence. Edge intelligence aims at enhancing data processing and protects the privacy and security of the data and users. Although recently emerged, spanning the period from 2011 to now, this field of research has shown explosive growth over the past five years. In this article, we present a thorough and comprehensive survey of the literature surrounding edge intelligence. We first identify four fundamental components of edge intelligence, i.e., edge caching, edge training, edge inference, and edge offloading based on theoretical and practical results pertaining to proposed and deployed systems. We then aim for a systematic classification of the state of the solutions by examining research results and observations for each of the four components and present a taxonomy that includes practical problems, adopted techniques, and application goals. For each category, we elaborate, compare, and analyze the literature from the perspectives of adopted techniques, objectives, performance, advantages and drawbacks, and so on. This article provides a comprehensive survey of edge intelligence and its application areas. In addition, we summarize the development of the emerging research fields and the current state of the art and discuss the important open issues and possible theoretical and technical directions.Peer reviewe

    Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

    Get PDF
    Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

    Hierarchical Honeycomb-structured Electret/Triboelectric Nanogenerator for Biomechanical and Morphing Wing Energy Harvesting

    Get PDF
    Flexible, compact, lightweight and sustainable power sources are indispensable for modern wearable and personal electronics and small-unmanned aerial vehicles (UAVs). Hierarchical honeycomb has the unique merits of compact mesostructures, excellent energy absorption properties and considerable weight to strength ratios. Herein, a honeycomb-inspired triboelectric nanogenerator (h-TENG) is proposed for biomechanical and UAV morphing wing energy harvesting based on contact triboelectrification wavy surface of cellular honeycomb structure. The wavy surface comprises a multilayered thin film structure (combining polyethylene terephthalate, silver nanowires and fluorinated ethylene propylene) fabricated through high-temperature thermoplastic molding and wafer-level bonding process. With superior synchronization of large amounts of energy generation units with honeycomb cells, the manufactured h-TENG prototype produces the maximum instantaneous open-circuit voltage, short-circuit current and output power of 1207 V, 68.5 μA and 12.4 mW, respectively, corresponding to a remarkable peak power density of 0.275 mW/cm3 (or 2.48 mW/g) under hand-pressing excitations. Attributed to the excellent elastic property of self-rebounding honeycomb structure, the flexible and transparent h-TENG can be easily pressed, bent, and integrated into shoes for real-time insole plantar pressure mapping. The lightweight and compact h-TENG is further installed into a morphing wing of small UAVs for efficiently converting the flapping energy of ailerons into electricity for the first time. This research demonstrates this new conceptualizing single h-TENG device's versatility and viability for broad-range real-world application scenarios
    corecore