The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs ...The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom （6-DOF） integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely ＂put-out＂ was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes.展开更多
Tissue engineering(TE)continues to be widely explored as a potential solution to meet critical clinical needs for diseased tissue replacement and tissue regeneration.In this study,we developed a poly(2-hydroxyethyl me...Tissue engineering(TE)continues to be widely explored as a potential solution to meet critical clinical needs for diseased tissue replacement and tissue regeneration.In this study,we developed a poly(2-hydroxyethyl methacrylate-co-methacrylic acid)(pHEMA-co-MAA)based hydrogel loaded with newly synthesized conductive poly(3,4-ethylene-dioxythiophene)(PEDOT)and polypyrrole(PPy)nanoparticles(NPs),and subsequently processed these hydrogels into tissue engineered constructs via three-dimensional(3D)printing.The presence of the NPs was critical as they altered the rheological properties during printing.However,all samples exhibited suitable shear thinning properties,allowing for the development of an optimized processing window for 3D printing.Samples were 3D printed into pre-determined disk-shaped configurations of 2 and 10 mm in height and diameter,respectively.We observed that the NPs disrupted the gel crosslinking efficiencies,leading to shorter degradation times and compressive mechanical properties ranging between 450 and 550 kPa.The conductivity of the printed hydrogels increased along with the NP concentration to(5.10±0.37)×10^(−7)S/cm.In vitro studies with cortical astrocyte cell cultures demonstrated that exposure to the pHEMA-co-MAA NP hydrogels yielded high cellular viability and proliferation rates.Finally,hydrogel antimicrobial studies with staphylococcus epidermidis bacteria revealed that the developed hydrogels affected bacterial growth.Taken together,these materials show promise for various TE strategies.展开更多
文摘The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom （6-DOF） integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely ＂put-out＂ was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes.
基金research conducted with the financial support of Science Foundation Ireland under the SFI Research Infrastructure Programme (21/RI/9831)the funding provided by the Irish Research Council through the Irish Research Council Enterprise Partnership Scheme with Johnson and Johnson (EPSPG/2020/78)
文摘Tissue engineering(TE)continues to be widely explored as a potential solution to meet critical clinical needs for diseased tissue replacement and tissue regeneration.In this study,we developed a poly(2-hydroxyethyl methacrylate-co-methacrylic acid)(pHEMA-co-MAA)based hydrogel loaded with newly synthesized conductive poly(3,4-ethylene-dioxythiophene)(PEDOT)and polypyrrole(PPy)nanoparticles(NPs),and subsequently processed these hydrogels into tissue engineered constructs via three-dimensional(3D)printing.The presence of the NPs was critical as they altered the rheological properties during printing.However,all samples exhibited suitable shear thinning properties,allowing for the development of an optimized processing window for 3D printing.Samples were 3D printed into pre-determined disk-shaped configurations of 2 and 10 mm in height and diameter,respectively.We observed that the NPs disrupted the gel crosslinking efficiencies,leading to shorter degradation times and compressive mechanical properties ranging between 450 and 550 kPa.The conductivity of the printed hydrogels increased along with the NP concentration to(5.10±0.37)×10^(−7)S/cm.In vitro studies with cortical astrocyte cell cultures demonstrated that exposure to the pHEMA-co-MAA NP hydrogels yielded high cellular viability and proliferation rates.Finally,hydrogel antimicrobial studies with staphylococcus epidermidis bacteria revealed that the developed hydrogels affected bacterial growth.Taken together,these materials show promise for various TE strategies.
