Designing A Control System For Underwater Gliders

Next, there is a while loop that continues to run if the left encoder is less than the value of the number of revolutions multiplied by the counted ticks per revolution. After this, if the computed motor ticks are unequal between the two motors, the function is written to where the vehicle can adjust and correct itself if it starts to drift to one side. This is done by if-else statements in which each motor power is adjusted. Variables used in the driveStraight() function were used in the turnLeft () function as well. The function contains a turningTime variable, which is set to the inputted angle multiplied by 1000 and is divided by the inputted turning speed. Like the previous function, if-else statements were used to adjust each of the motors power to make a proper turning angle. At the end of the function, the command encoder.clearEnc(Both) clears both the encoders counted motor

A more detailed implementation description is shown in Figure~\ref{fig:block_HHC_shaw}. The components of the harmonic amplitude vector $Y$ are the Fourier coefficients of the measured vibration at the frequency $\omega$. The Fourier coefficients are obtained by integrating the demodulated vibration signal over one sampling period $T^s$. As for the control adjustments $\Delta u_c$ and $\Delta u_s$, they are obtained as the product of the components $Y$, and the inverse of the control response matrix $T$. The control adjustments are sampled and added to the control signal amplitudes of the previous time step, generating the current control amplitude vector $U_k$. The controller output is obtained by summing the modulated components of the control

in the opposite direction. This motion is detected by sensitive accelerometers attached to the table. (The table is

The final car uses a combination of a mousetrap and rubber bands. The mousetrap, attached to the top of the car by tape, pulls a fishing line which is wrapped around the front axle. The fishing line is attached to the mousetrap at an arm that was added to the mousetrap. The arm is comprised of two long axles attached to the hammer of the mousetrap which allows the fishing line to pull the car's axle for a farther distance. The long chassis of the car allows for the arm to be as long as it is. If the arm was much longer than the body of the car, the spring force of the mousetrap and the weight distribution of the arm would cause the car to flip. However, by distributing the weight of the arm across the body of the car, the car was able to maintain

a. Our car needs this change because even though the car went a reasonable distance, the car did not either get the best distance or go as far as we expected. If we can change our MTC for better distance and to do that we need to get rid of one of the front wheels. This will impact the cars speed the best because it will help accelerate the MTC because there is a lower mass without a wheel. When the car has unbalanced forces the car will accelerate at a fast rate and we can determine the exact number with the appropriate data using Newtons 2nd Law, F=MA.

I remember the first album I ever heard that really spoke out to me. As a musician of seven years it's not the complexity of the music but the content that is the most enjoyable.That album was “In The Aeroplane Over The Sea” by Neutral Milk Hotel. I taught myself how to play guitar and for 6 out of the seven years I did everything in my power to learn everything that I could as far as playing the instrument was concerned. I soon realized that all was doing was trying to impress people with complex guitar riffs. Any Lyrics that I ever came up with were practically meaningless. This album having the lyrical content that it has showed me that it was the music that pulled a crowed in it was the message behind the lyrics that really drove them wild.

For the first part, the principle of conservation of energy is investigated by launching a ball vertically and comparing its total energy at the time of launch to its energy when it reaches its highest point. For the second part, the principle of conservation of energy is tested out for an isolated system by investigating how gravitational potential energy is transferred to kinetic energy for a glider (of mass m) sliding on an air

Imagine being 35,000 feet under the water. That's how deep ROVs can go. ROVS, remotely operated vehicles, have been around since the 1970’s. They are very important because they can go 35,000 feet under the sea. The deepest manned submarine can only go 13,000 feet. On one side of the debate, people will argue that ROVs are not valuable for underwater research. However, ROVs are ABSOLUTELY valuable to underwater research because they can dive far deeper than any manned ship, they have found lots of very old ships, and they can explore without desecrating graves.

A rational method may be used in computing a main gearstatic reaction, taking into consideration the moment arm between the main wheel reaction and the rotorcraft center of gravity. W=WN for nose gear units (lbs.), equal to the vertical component of the static reaction that would exist at the nose wheel, assuming that the mass of the rotorcraft acts at the center of gravity and exerts a force of 1.0g downward and 0.25gforward. W=WT for tailwheel units (lbs.), equal to whichever of the following is

At Seoul National University, Ho Young Kim and Kyu Jin Cho have created a robot that can jump on water. The science behind the Striders' jump has different components. When the Strider is on top of the water, the water responds by flattening out. Standing on water reduces the surface tension. Creating dimples in the water makes the surface tension move upward.

The device will be a model of squid in a tank filled with water, to teach about locomotion by using jet propulsion

Recognizing the need for a self-piloting and hands-free aerial and underwater video UAV the Hydro Drone was created. The Hydro Drone works as a UAV in the air and underwater, circling or following a small 2” homing beacon. The strengths of the Hydro Drone are the self-piloting and waterproof attributes of the device. A weakness is the price of the Hydro Drone being $2,500 is nearly double the cost of the top selling DJI phantom

In our life, what the one thing we will be in more than our beloved home, our vehicles. For most of us, the vehicle is the most important transportation devices within our modern life. Whether you are taking a bus, carpooling, or driving your own car, we can all share this common action that among us. And for this reason, that I decided to do my research paper on the automobiles and law of motion. Most of us that drive or have been in a moving vehicle doesn’t know much of the physic behind it. Like when you press the gas pedal why does the car go forward, or what force is behind it. When you press the brake, does the car just add negative acceleration or the wheel just stop moving. How come you can’t do certain thing in a civilian car, but can do other thing in like a drift car or race car. Knowing the physic behind our second home, can be beneficial if something breaks down. Because knowing the relativity of our machine, can prevent us from being over charged when going to a repair shop. Isaac newton law of motion help explain this modern era important invention that transformed the human races from horseback riding to vehicle driven. The main reason why I picked this topic is because, of how much modern vehicle have been part of our life. The vehicle is no longer just an item, but it is part of our lives, part of our family, if something were happen to it we would feel depressed and sad. If you have ever have been involved in a car accident you know the

This velocity was multiplied by the mass of the glider to calculate both its momentum before and after the collision. There were three different situations used in which the weights of the incident and target gliders were either equal or different. When the two masses are equal, the velocity should be exchanged from the incident glider to the target glider. Therefore, the incident glider takes on the velocity of the target glider and the target glider takes on the velocity of the incident glider. When the incident glider has a mass greater than the target glider, the target body takes up a velocity in the opposite direction that is twice the incident glider.

2) State qualitatively why an incremental change in mass (i.e. 50 g) for the fully submerged case results in a different change in height, Δh, than the same incremental change in mass for the partially submerged case.