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Design, Modeling, and Simulation of a Wing Sail Land Yacht

2021-03Journal article Open access
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dc.contributor.authorTinoco, Vítor
dc.contributor.authorMalheiro, Benedita
dc.contributor.authorSilva, Manuel F.
dc.date.accessioned2021-03-25T12:19:07Z
dc.date.available2021-03-25T12:19:07Z
dc.date.issued2021-03
dc.description.abstractAutonomous land yachts can play a major role in the context of environmental monitoring, namely, in open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses the design, modeling, and simulation of a land yacht probe equipped with a rigid free-rotating wing sail and tail flap. The wing was designed with a symmetrical airfoil and dimensions to provide the necessary thrust to displace the vehicle. Specifically, it proposes a novel design and simulation method for free rotating wing sail autonomous land yachts. The simulation relies on the Gazebo simulator together with the Robotic Operating System (ROS) middleware. It uses a modified Gazebo aerodynamics plugin to generate the lift and drag forces and the yawing moment, two newly created plugins, one to act as a wind sensor and the other to set the wing flap angular position, and the 3D model of the land yacht created with Fusion 360. The wing sail aligns automatically to the wind direction and can be set to any given angle of attack, stabilizing after a few seconds. Finally, the obtained polar diagram characterizes the expected sailing performance of the land yacht. The described method can be adopted to evaluate different wing sail configurations, as well as control techniques, for autonomous land yachts.pt_PT
dc.description.sponsorshipThis work was partially financed by National Funds through the FCT – Fundação para a Ciência e a 337 Tecnologia (Portuguese Foundation for Science and Technology) as part of project UIDB/50014/2020.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.3390/app11062760pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/17642
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherMDPI - Multidisciplinary Digital Publishing Institutept_PT
dc.relationINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
dc.relation.publisherversionhttps://www.mdpi.com/2076-3417/11/6/2760pt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectRobotic sailingpt_PT
dc.subjectDesignpt_PT
dc.subjectModelingpt_PT
dc.subjectSimulationpt_PT
dc.subjectWing sailpt_PT
dc.subjectFlap tailpt_PT
dc.subjectLand yachtpt_PT
dc.titleDesign, Modeling, and Simulation of a Wing Sail Land Yachtpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.awardTitleINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PT
oaire.citation.conferencePlaceBasel, Switzerlandpt_PT
oaire.citation.issue6pt_PT
oaire.citation.startPage2760pt_PT
oaire.citation.titleApplied Sciencespt_PT
oaire.citation.volume11pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameBENEDITA CAMPOS NEVES MALHEIRO
person.familyNameSilva
person.givenNameMARIA
person.givenNameManuel
person.identifierR-000-A3Q
person.identifier.ciencia-id7A15-08FC-4430
person.identifier.ciencia-idAB11-C518-AF50
person.identifier.orcid0000-0001-9083-4292
person.identifier.orcid0000-0002-0593-2865
person.identifier.ridM-5767-2013
person.identifier.scopus-author-id55934287000
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationbabd4fda-654a-4b59-952d-6113eebbb308
relation.isAuthorOfPublication06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc
relation.isAuthorOfPublication.latestForDiscoverybabd4fda-654a-4b59-952d-6113eebbb308
relation.isProjectOfPublication7a2d9a82-ee07-4c57-bbbf-2d88b942688d
relation.isProjectOfPublication.latestForDiscovery7a2d9a82-ee07-4c57-bbbf-2d88b942688d

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