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Literature survey of contact dynamics modelling

In this review, we have examined the different models for polymer-electrolyte fuel cells operating with hydrogen. The major focus has been on transport of the various species within the fuel cell. The different regions of the fuel cell were examined, and their modeling methodologies and equations were elucidated. In particular, the 1-D fuel-cell sandwich was discussed thoroughly because it is the most important part of the fuel-cell assembly. Models that included other effects such as temperature gradients and transport in other directions besides through the fuel-cell sandwich were also discussed. Models were not directly compared to each other; instead they were broken down into their constitutive parts. The reason for this is that validation of the models is usually accomplished by comparison of simulation to experimental polarization data (e.g., Figure 3). However, other data can also be used such as the net flux of water through the membrane. In fitting these data, the models vary not only in their complexity and treatments but also in their number and kind of fitting parameters. This is one reason it is hard to justify one approach over another by just looking at the modeling results. In general, it seems reasonable that the more complex models, which are based on physical arguments and do not contain many fitting parameters, are perhaps closest to reality. Of course, this assumes that they fit the experimental data and observations. This last point has been overlooked in the validation of many models. For example, a model may fit the data very well for certain operating conditions, but if it does not at least predict the correct trend when one of those conditions is changed, then the model is shown to be valid only within a certain operating range. This review has highlighted the important effects that should be modeled. These include two-phase flow of liquid water and gas in the fuel-cell sandwich, a robust membrane model that accounts for the different membrane transport modes, nonisothermal effects, especially in the directions perpendicular to the sandwich, and multidimensional effects such as changing gas composition along the channel, among others. For any model, a balance must be struck between the complexity required to describe the physical reality and the additional costs of such complexity. In other words, while more complex models more accurately describe the physics of the transport processes, they are more computationally costly and may have so many unknown parameters that their results are not as meaningful. Hopefully, this review has shown and broken down for the reader the vast complexities of transport within polymer-electrolyte fuel cells and the various ways they have been and can be modeled.

Modeling transport in polymer-electrolyte fuel cells.

This paper presents the development of dynamic models for proton exchange membrane (PEM) fuel cells using electrical circuits. The models have been implemented in MATLAB/SIMULINK and PSPICE environments. Both the double-layer charging effect and the thermodynamic characteristic inside the fuel cell are included in the models. The model responses obtained at steady-state and transient conditions are validated by experimental data measured from an Avista Labs SR-12 500-W PEM fuel-cell stack. The models could be used in PEM fuel-cell control related studies.

Dynamic models and model validation for PEM fuel cells using electrical circuits

Leader-follower formation control of underactuated autonomous underwater vehicles

A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism's inverse displacement solution is obtained. Since the mechanism has only 3 dof, constraint equations describing the inter-relationship between the six motion coordinates are derived. These constraints allow the definition of parasitic motions, i.e., motions in the three unspecified motion coordinates. Architecture optimization of the device is undertaken demonstrating that specific values of design variables allow minimization of parasitic motion.

Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

Changes in the design of software algorithms for generating physical motion in flight simulators have typically been put forward on the grounds of improved motion cueing. Little attention has been paid to more practical criteria such as computational cost, ease of adjustment, or evaluation by experienced pilots in a realistic simulation environment. A comparison of three of the algorithms most commonly found in the literature has been performed: classical washout, optimal control, and coordinated adaptive. This consisted of pilot evaluations of these algorithms implemented on a six-degree-of-freedom flight simulator simulating a large transport aircraft during low-altitude flight and ground maneuvering. This paper presents the results of that study from the designer's viewpoint. In it, we contend that, with enough effort, most algorithms can be massaged to perform reasonably well, and that a more important consideration is the ease with which a given algorithm can be brought to high performance levels. If this criterion is used, it appears that the classical algorithm is a good starting point, and that the benefits of an adaptive algorithm can be added gradually to obtain the advantages conferred by nonlinear filtering and "intelligent" cost functions.

Simulator motion-drive algorithms - A designer's perspective

Development and validation of a lumped-mass dynamics model of a deep-sea ROV system

Airship dynamics modeling: A literature review

The real-time control of cooperating manipulators, mechanical hands, and walking machines involves the optimization of an underdetermined force system subject to both equality and inequality constraints. The inequality constraints arise as a result of passive frictional contacts in systems that depend on these for force transmission or when taking into account the limited torque or force capability of the actuators. Since the results of the force optimization are used to provide force or torque setpoints for the actuators, they must be obtained in real time. A technique for solving a quadratic optimization problem with equality and inequality constraints is presented for this application. The technique is compared with linear programming schemes to show its superior performance in terms of the speed and quality of the solution. The technique is well suited to problems where the solution can change discontinuously in time, as is the case with the systems considered due to changes in their topology. >

Meyer Nahon

Papers

Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

Simulator motion-drive algorithms - A designer's perspective

Development and validation of a lumped-mass dynamics model of a deep-sea ROV system

Airship dynamics modeling: A literature review

Real-time force optimization in parallel kinematic chains under inequality constraints