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Object-oriented approach to the construction of an omni vehicle dynamical model
Ivan Kosenko,Kirill Gerasimov 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.7
Omni vehicles are equipped with omni wheels, which are built with rollers along the rims. This study implements several steps to developa dynamical model for an omni vehicle multibody system. The dynamics of a free roller that moves in gravity and features a unilateralcontact constraint with a horizontal surface is first modeled. Contact tracking is performed with the use of a simplified and efficientalgorithm. An omni wheel model is then developed and debugged. A whole vehicle model is subsequently assembled as a container classthat comprises arrays of objects as instantiated classes, which are in fact models of omni wheels and joints. The dynamical properties ofthe resulting model are illustrated through numerical experiments.
Ibraikulov, Olzhas A.,Ngov, Chheng,Chá,vez, Patricia,Bulut, Ibrahim,Heinrich, Benoî,t,Boyron, Olivier,Gerasimov, Kirill L.,Ivanov, Dimitri A.,Swaraj, Sufal,Mé,ry, Sté,phane,Lecl The Royal Society of Chemistry 2018 Journal of Materials Chemistry A Vol.6 No.25
<P>The recently reported high power conversion efficiencies achieved in fluorinated polymer:fullerene solar cells have been accounted for by the presence of face-on oriented polymer backbones that enable charge transport towards the collecting electrodes. In this work, we demonstrate that, in contrast to the results of a number of reports, the face-on polymer orientation is due to the bulky side chains, rather than to aggregation in solution. This conclusion is supported by a comparative study of polymers having similar conjugated backbones but different number of fluorine atoms and different number and type of alkyl side chains. While the latter are primarily introduced to tune polymer solubility, the present in-depth thin-film morphology investigation shows that increasing the chain bulkiness favors formation of crystalline lamellae with face-on oriented backbones, independently of the degree of fluorination. By contrast, introduction of fluorine atoms is found to substantially enhance the π-stacking interactions that remain invariably strong upon blending of the polymer with fullerene. Our results demonstrate that, for the polymer family under investigation, fluorination and functionalization by bulky alkyl side chains are both needed for reaching power conversion efficiencies above 10%.</P>