Magnetohydrodynamic models of astrophysical jets

In this review, analytical results obtained for a wide class of stationary axisymmetric flows in the vicinity of compact astrophysical objects are analyzed, with an emphasis on quantitative predictions for specific sources. Recent years have witnessed a great increase in understanding the formation and properties of astrophysical jets. This is due not only to new observations but also to advances in analytical theory which has produced fairly simple relations, and to what can undoubtedly be called a breakthrough in numerical simulation which has enabled confirmation of theoretical predictions. Of course, we are still very far from fully understanding the physical processes occurring in compact sources. Nevertheless, the progress made raises hopes for near-future test observations that can give insight into the physical processes occurring in active astrophysical objects.Comment: 40 pages, translated by K.A.Postnov, edited by A.Radzi

Hybrid Magneto-Rheological Actuators for Human Friendly Robotic Manipulators

In recent years, many developments in the field of the physical human robot interaction (pHRI) have been witnessed and significant attentions have been given to the subject of safety within the interactive environments. Ensuring the safety has led to the design of the robots that are physically unable to hurt humans. However, Such systems commonly suffer from the safety-performance trade-off. Magneto-Rheological (MR) fluids are a special class of fluids that exhibit variable yield stress with respect to an applied magnetic field. Devices developed with such fluids are known to provide the prerequisite requirements of intrinsic safe actuation while maintaining the dynamical performance of the actuator. In this study, a new concept for generating magnetic field in Magneto-Rheological (MR) clutches is presented. The main rationale behind this concept is to divide the magnetic field generation into two parts using an electromagnetic coil and a permanent magnet. The main rationale behind this concept is to utilize a hybrid combination of electromagnetic coil and a permanent magnet. The combination of permanent magnets and electromagnetic coils in Hybrid Magneto-Rheological (HMR) clutches allows to distribute the magnetic field inside an MR clutch more uniformly. Moreover, The use of a permanent magnet dramatically reduces the mass of MR clutches for a given value of the nominal torque that results in developing higher torque-to-mass ratio. High torque-to-mass and torque-to-inertia ratios in HMR clutches promotes the use of these devices in human-friendly actuation

Performance analysis of electric drives using slotless motors

La tesi descrive le principali criticità nel controllo di macchine elettriche di tipo 'slotless'; con particolare riguardo alle prestazione della macchina stessa in relazione alle tecniche di controllo utilizzate (SVM o controllo trapezoidal e)

Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

Traction control in electric vehicles

Tese de Mestrado Integrado. Engenharia Electrotécnica e de Computadores. Área de Especialização de Automação. Faculdade de Engenharia. Universidade do Porto. 201

Towards self-powered sensing using nanogenerators for automotive systems

The final publication is available at Elsevier via https://dx.doi.org/10.1016/j.nanoen.2018.09.032 © 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license https://creativecommons.org/licenses/by-nc-nd/4.0/Harvesting energy from the working environment of vehicles is important for wirelessly monitoring their operation conditions and safety. This review aims at reporting different sensory and energy harvesting technologies developed for automotive and active safety systems. A few dominant sensing and power harvesting mechanisms in automotive systems are illustrated, then, triboelectric, piezoelectric and pyroelectric nanogenerators, and their potential for utilization in automotive systems are discussed considering their high power density, flexibility, different operating modes, and cost in comparison with other mechanisms. Various ground vehicles’ sensing mechanisms including position, thermal, pressure, chemical and gas composition, and pressure sensors are presented. A few novel types self-powered sensing mechanisms are presented for each of the abovementioned sensor categories using nanogenerators. The last section includes the automotive systems and subsystems, which have the potential to be used for energy harvesting, such as suspension and tires. The potential of nanogenerators for developing new self-powered sensors for automotive applications, which in the near future, will be an indispensable part of the active safety systems in production cars, is also discussed in this review article

Design Simulation and Experiments on Electrical Machines for Integrated Starter-Generator Applications

This thesis presents two different non-permanent magnet machine designs for belt-driven integrated starter-generator (B-ISG) applications. The goal of this project is to improve the machine performance over a benchmark classical switched reluctance machine (SRM) in terms of efficiency, control complexity, torque ripple level and power factor. The cost penalty due to the necessity of a specially designed H-bridge machine inverter is also taken into consideration by implementation of a conventional AC inverter. The first design changes the classical SRM winding configuration to utilise both self-inductance and mutual-inductance in torque production. This allows the use of AC sinusoidal current with lower cost and comparable or even increased torque density. Torque density can be further increased by using a bipolar square current drive with optimum conduction angle. A reduction in control difficulty is also achieved by adoption of standard AC machine control theory. Despite these merits, the inherently low power factor and poor field weakening capability makes these machines unfavourable in B-ISG applications. The second design is a wound rotor synchronous machine (WRSM). From FE analysis, a six pole geometry presents a lower loss level over four pole geometry. Torque ripple and iron loss are effectively reduced by the use of an eccentric rotor pole. To determine the minimum copper loss criteria, a novel algorithm is proposed over the conventional Lagrange method, where the deviation is lowered from ± 10% to ± 1%, and the simulation time is reduced from hours to minutes on standard desktop PC hardware. With the proposed design and control strategies, the WRSM delivers a comparable field weakening capability and a higher efficiency compared with the benchmark SRM under the New European Driving Cycle, where a reduction in machine losses of 40% is possible. Nevertheless, the wound rotor structure brings mechanical and thermal challenges. A speed limit of 11,000 rpm is imposed by centrifugal forces. A maximum continuous motoring power of 3.8 kW is imposed by rotor coil temperature performance, which is extended to 5 kW by a proposed temperature balancing method. A prototype machine is then constructed, where the minimum copper loss criteria is experimentally validated. A discrepancy of no more than 10% is shown in back-EMF, phase voltage, average torque and loss from FE simulation