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Kauertz S.,Airbus | Holzapfel F.,German Aerospace Center | Kladetzke J.,German Aerospace Center | Kladetzke J.,Institute For Robotik Und Mechatronik
Journal of Aircraft | Year: 2012

In the European research project, CREDOS (Crosswind-Reduced Separations for Departure Operations), the feasibility of a concept for reduced wake turbulence separations upon departure in crosswind conditions has been investigated. The safety assessment of this concept includes risk assessment with respect to wake vortex encounters. This paper describes the methodology developed for this assessment and its application during the project. The methodology employs two simulation tools, the Wake Vortex Scenarios Simulation Package for Departure (Wake Scene-D) and the Vortex Encounter Severity Assessment for Departure (VESA-D), which are extensions of existing tools related to the departure flight phase. Wake Scene-D primarily determines the frequency of wake encounters, whereas VESA-D estimates the severity of these encounters. Both can be combined to quantify and compare wake encounter risk for various departure scenarios. In the risk assessment, departures with variable aircraft separations and varying crosswind conditions were investigated to determine which crosswind level is necessary to suspend wake-turbulence-related separations during departure without degrading safety. Monte Carlo simulations have been conducted comparing medium and heavy aircraft type departures with 2 min. of separation to departures with a separation of 1 min. under varying crosswind strengths. The results not only give an indication of which crosswind magnitudes could be sufficient to safely suspend wake-turbulence-related separations upon takeoff, but they also reveal significant influences, such as the departure route layout and the change of wind direction with altitude, on wake encounter risk. Copyright © 2011 by Luis Delgado.

Wimbock T.,Institute For Robotik Und Mechatronik | Borst C.,Institute For Robotik Und Mechatronik | Albu-Schaffer A.,Institute For Robotik Und Mechatronik | Ott C.,Institute For Robotik Und Mechatronik | And 7 more authors.
At-Automatisierungstechnik | Year: 2010

With the mobile humanoid robot Justin DLR presents a platform capable of sensitive manipulation of everyday objects. The considerations and fundamental design decisions for the mechatronic development of the system are presented. Furthermore, it is shown how the sensory information can be used for passivity-based control. In this way a compliant behavior of the robot in task space can be achieved. This allows for sensitive adjustments to unknown environments. Some exemplary applications and experiments demonstrate how these properties can simplify the programming of such complex robotic systems. © Oldenbourg Wissenschaftsverlag.

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