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Experimental study of flow field distribution over a generic cranked double delta wing

Chinese Journal of Aeronautics 2016年第5期29卷 1196-1204页

作者： Mojtaba Dehghan Manshadi Mehdi Eilbeigi Mohammad Kazem Sobhani mehrdad bazaz zadeh Mohammad Ali Vaziry Department of Mechanical and Aerospace Engineering Malek Ashtar University of Technology

The flow fields over a generic cranked double delta wing were investigated. Pressure and velocity distributions were obtained using a Pitot tube and a hot wire anemometer. Two different leading edge shapes, namely ＂sharp＂ and ＂round＂, were applied to the wing. The wing had two sweep angles of 55° and 30°. The experiments were conducted in a closed circuit wind tunnel at velocity 20 m/s and angles of attack of 5°- 20° with the step of 5°. The Reynolds number of the model was about 2 - 105 according to the root chord. A dual vortex structure was formed above the wing surface. A pressure drop occurred at the vortex core and the root mean square of the measured velocity increased at the core of the vortices, reflecting the instability of the flow in that region. The magnitude of power spectral density increased strongly in spanwise direction and had the maximum value at the vortex core. By increasing the angle of attack, the pressure drop increased and the vortices became wider; the vortices moved inboard along the wing, and away from the surface; the flow separation was initiated from the outer portion of the wing and developed to its inner part. The vortices of the wing of the sharp leading edge were stronger than those of the round one.

关键词： Cranked double delta wing Flow field Hot wire Leading edge shape Vortical flow

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Teaching the User By Learning From the User:Personalizing Movement Control in Physical Human-robot Interaction

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 704-713页

作者： Ali Safavi mehrdad H.zadeh Department of Electrical and Computer Engineering Kettering UniversityFlintMI 48504USA

This paper proposes a novel approach for physical human-robot interactions(pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in higher intervention from the robot. This personalized physical human-robot interaction(p2HRI) method incorporates adaptive modeling of the interaction between the human and the robot as well as learning from demonstration(LfD) techniques to adapt to the users' performance. This approach is based on model predictive control where the system optimizes the rendered forces by predicting the performance of the user. Moreover, continuous learning of the user behavior is added so that the models and personalized considerations are updated based on the change of user performance over time. Applying this framework to a field such as haptic guidance for skill improvement, allows a more personalized learning experience where the interaction between the robot as the intelligent tutor and the student as the user,is better adjusted based on the skill level of the individual and their gradual improvement. The results suggest that the precision of the model of the interaction is improved using this proposed method,and the addition of the considered personalized factors to a more adaptive strategy for rendering of guidance forces.

关键词： Haptic guidance learning from demonstration(LfD) personalized physical human-robot interaction(p2HRI) user performance

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