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Robotic Herding of a Flock of Birds Using an Unmanned Aerial Vehicle
Paranjape, Aditya A.,Chung, Soon-Jo,Kim, Kyunam,Shim, David Hyunchul IEEE 2018 IEEE TRANSACTIONS ON ROBOTICS Vol.34 No.4
<P>In this paper, we derive an algorithm for enabling a single robotic unmanned aerial vehicle to herd a flock of birds away from a designated volume of space, such as the air space around an airport. The herding algorithm, referred to as the <TEX>$m$</TEX>-waypoint algorithm, is designed using a dynamic model of bird flocking based on Reynolds’ rules. We derive bounds on its performance using a combination of reduced-order modeling of the flock's motion, heuristics, and rigorous analysis. A unique contribution of the paper is the experimental demonstration of several facets of the herding algorithm on flocks of live birds reacting to a robotic pursuer. The experiments allow us to estimate several parameters of the flocking model, and especially the interaction between the pursuer and the flock. The herding algorithm is also demonstrated using numerical simulations.</P>
A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight
Paranjape, Aditya A.,Dorothy, Michael R.,Chung, Soon-Jo,Lee, Ki-D. The Korean Society for Aeronautical and Space Scie 2012 International Journal of Aeronautical and Space Sc Vol.13 No.3
This paper reviews the flight mechanics and control of birds and bird-size aircraft. It is intended to fill a niche in the current survey literature which focuses primarily on the aerodynamics, flight dynamics and control of insect scale flight. We review the flight mechanics from first principles and summarize some recent results on the stability and control of birds and bird-scale aircraft. Birds spend a considerable portion of their flight in the gliding (i.e., non-flapping) phase. Therefore, we also review the stability and control of gliding flight, and particularly those aspects which are derived from the unique control features of birds.
Praveda Paranjape,Parag Sadgir 대한토목학회 2023 KSCE Journal of Civil Engineering Vol.27 No.12
Iron concentrations in drinking water beyond the acceptable level adversely affect human health and aquatic life. Innovative chemical-based iron extraction processes exist, albeit being costly. Therefore, iron removal using easily accessible plants is the most sustainable alternative. The bioadsorption of iron by Ocimum sanctum Linn. leaves (OSL) and Syzygium cumini seed (SCS) biomass was examined considering several parameters viz. pH, biomass quantity, time of contact, initial iron metal concentration and temperature, etc. The adsorption process appears spontaneous, feasible, and exothermic. The batch adsorption of iron obeyed Langmuir isotherm and pseudo first order kinetic model for both bioadsorbents. Monolayer adsorption capacities (mg/g) were 123.26 (OSL) and 96.25 (SCS). OSL biomass proves more effective in removing iron than SCS biomass. Artificial neural network (ANN) and Support vector machine (SVM) were used to develop predictive model. The results showed that both models revealed good abilities for predicting the % removal of iron. To assess the prediction performance of ANN and SVM models statistical methods (R2 and MSE) were employed. The SVM outperformsANN in terms of prediction performance. Future perspectives of the applicability of OSL and SCS bioadsorbents for industrial purposes comprise extensive research with real wastewaters containing iron and/or other heavy metals.
A Flight Mechanics-Centric Review of Bird-Scale Flapping Flight
Aditya A. Paranjape,Michael R. Dorothy,Soon-Jo Chung,Ki D. Lee 한국항공우주학회 2012 International Journal of Aeronautical and Space Sc Vol.13 No.3
This paper reviews the flight mechanics and control of birds and bird-size aircraft. It is intended to fill a niche in the current survey literature which focuses primarily on the aerodynamics, flight dynamics and control of insect scale flight. We review the flight mechanics from first principles and summarize some recent results on the stability and control of birds and bird-scale aircraft. Birds spend a considerable portion of their flight in the gliding (i.e., non-flapping) phase. Therefore, we also review the stability and control of gliding flight, and particularly those aspects which are derived from the unique control features of birds.
회전 에너지 수확을 위한 실린더형 마찰전기기반 에너지 하베스터의 제작 연구
Mandar Vasant Paranjape,Sontyana Adonijah Graham,Harishkumarredy Patnam,Punnarao Manchi,유재수 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.2
본 발표에서는 회전운동을 전기 에너지로 수확하기 위해 실린더 모양의 마찰전기기반 에너지 하베스터를 제안한다. 실린더형 마찰전기 나노발전소자는 접촉 분리 및 측면 슬라이딩 마찰전기 나노발전소자 작동 메커니즘을 이용하는데, 반대전하를 띤 두 마찰전기 재료가 기계적 에너지를 전기로 변환하는 데 사용된다. 실린더형 마찰전기 나노발전소자의 외부 구조는 3D 프린터를 사용하여 제작되며, 폴리테트라플루오로에틸렌 (PTFE) 및 알루미늄은 각각 양극 및 음극마찰전기 재료로 사용된다. 제작된 실린더형 마찰전기 나노발전소자는 회전운동으로부터 우수한 전기 출력을 생성한다. 또한 실린더형 마찰전기 나노발전소자에 의해 생성된 전기 출력은 상용 커패시터에 저장하고 다양한 휴대용 전자소자에 전력을 공급하기 위해 직류신호로 변환된다.
Kapulla R.,Paranjape S.,Doll U.,Kirkby E.,Paladino D. 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.11
The thermal-hydraulics phenomena in a containment during an accident will necessarily include radiative heat transfer (i) within the gas mixture due to the high radiative absorption and emission of steam and (ii) between the gas mixture and the surrounding structures. The analysis of some previous PANDA experiments (PSI, Switzerland) demonstrated the importance of the proper modelling of radiation for the benefit of numerical simulations. These results together with dedicated scoping calculations conducted for the present experiments indicated that the radiative heat transfer is considerable, even for a very low amount of steam (z2%). The H2P2 series conducted in the large-scale PANDA facility at the Paul-Scherrer-Institut (PSI) in the framework of the OECD/NEA HYMERES-2 project is intended to enhance the understanding of thermal radiation phenomena and to provide a benchmark for corresponding numerical simulations. Thus, the test matrix was tailored around the two opposite extremes: either gas compositions with small steam content such that radiative heat transfer phenomena can be neglected. Or gas mixtures containing larger amounts of steam, so that radiative heat transfer is expected to play a dominant role. The H2P2 series consists of 5 experiments designed to isolate the radiation phenomena from convective and diffusive effects as much as possible. One vessel with a diameter of 4 m and a height of 8 m was preconditioned with different mixtures of air / steam at room and elevated temperatures. This was followed by the build-up of a stable helium stratification at constant pressure in the upper part of the vessel. After that, helium was injected from the top into the vessel which leads to an increase of the vessel pressure and a corresponding elevation-dependent and transient rise of the gas temperature. It is shown that even the addition of small amounts of steam in the initial gas atmosphere considerably impacts the radiative heat transport throughout all phases of the experiments and markedly influences i) the monitored gas peak temperature, ii) the temperature history during the compression and iii) the following relaxation phase after the compression was stopped. These PANDA experiments are the first of its kind conducted in a large scale thermal-hydraulic facility.
R. Kapulla,S. Paranjape,M. Fehlmann,S. Suter,U. Doll,D. Paladino 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.6
The main outcomes of the experiments H2P6 performed in the thermal-hydraulics large-scale PANDAfacility at PSI in the frame of the OECD/NEA HYMERES-2 project are presented in this article. The experiments of the H2P6 series consists of two PANDA tests characterized by the activation ofthree (H2P6_1) or one (H2P6_2) cooler(s) in an initially stratified and pressurized containment atmosphere. The initial stratification is defined by a helium-rich region located in the upper part of the vesseland a steam/air atmosphere in the lower part. The activation of the cooler(s) results i) in the condensation of the steam in the vicinity of the cooler(s), ii) the corresponding activation of large scale naturalcirculation currents in the vessel atmosphere, with the result of iii) the re-distribution and mixing of theHelium stratification initially located in the upper half of the vessel and iv) the continuous pressuredecay. The initial helium layer represents hydrogen generated in a postulated severe accident. The main question to be answered by the experiments is whether or not the interaction of thedifferent, localized cooler units would be important for the application of numerical methods. The paper describes the initial and boundary conditions and the experimental results of the H2P6series with the suggestion of simple scaling laws for both experiments in terms of i) the temperaturedifference(s) across the cooler(s), ii) the transient steam and helium content and iii) the pressure decay inthe vessel. The outcomes of this scaling indicate that the interaction between separate, closely localizedunits does not play a prominent role for the present experiments. It is therefore reasonable to modelseveral units as one large component with equivalent heat transfer area and total water flow rate
Diganta Bhattacharjee,Aditya A. Paranjape,Rajkumar S. Pant 한국항공우주학회 2019 International Journal of Aeronautical and Space Sc Vol.20 No.3
This paper analyzes the effect of spanwise distribution of twist angle on the forces generated by flapping wings as well as the power requirements. We consider four sample profiles of the twist angle as a function of spanwise location, and compute the forces and power requirements under non-accelerating level flight conditions. We investigate three different wing geometries, with varying wingspan and aspect ratios. It has been found that for planforms with moderate to high wingspans, a quadratic profile performs better than the constant and linear ones; whereas for planforms with smaller wingspans, a linear profile performs better than the rest. The analysis presented in this paper can be used to identify the most suitable wing twist profile as a function of the flight parameters and can be used as the basis for wing morphing.