Cortés, A. (Ainhoa)

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    Precise positioning of autonomous vehicles combining UWB ranging estimations with on-board sensors
    (MDPI AG, 2020) Cortés, A. (Ainhoa); Zamora-Cardenas, L. (Leticia); Svensson, B.J. (Bo Joel); San-Martín, J. (Javier)
    In this paper, we analyze the performance of a positioning system based on the fusion of Ultra-Wideband (UWB) ranging estimates together with odometry and inertial data from the vehicle. For carrying out this data fusion, an Extended Kalman Filter (EKF) has been used. Furthermore, a post-processing algorithm has been designed to remove the Non Line-Of-Sight (NLOS) UWB ranging estimates to further improve the accuracy of the proposed solution. This solution has been tested using both a simulated environment and a real environment. This research work is in the scope of the PRoPART European Project. The different real tests have been performed on the AstaZero proving ground using a Radio Control car (RC car) developed by RISE (Research Institutes of Sweden) as testing platform. Thus, a real time positioning solution has been achieved complying with the accuracy requirements for the PRoPART use case.
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    Wave basin tests of a multi-body floating PV system sheltered by a floating breakwater.
    (MDPI, 2024) Delhaye, V.(Virgile); Pehlke, T.(Thomas); Van-der-Zanden, J.(Joep); Cortés, A. (Ainhoa); Bunnik, T.(Tim); Panjwani, B.(Balram); Kegelart, G.(Guillaume)
    The development of floating photovoltaic systems (FPV) for coastal and offshore locations requires a solid understanding of a design's hydrodynamic performance through reliable methods. This study aims to extend insights into the hydrodynamic behavior of a superficial multi-body FPV system in mild and harsh wave conditions through basin tests at scale 1:10, with specific interest in the performance of hinges that interconnect the PV panels. Particular effort is put into correctly scaling the elasticity of the flexible hinges that interconnect the PV modules. Tests of a 5 x 3 FPV matrix are performed, with and without shelter, by external floating breakwater (FBW). The results show that the PV modules move horizontally in the same phase when the wave length exceeds the length of the FPV system, but shorter waves result in relative motions between modules and, for harsh seas, in hinge buckling. Relative motions suggest that axial loads are highest for the hinges that connect the center modules in the system and for normal wave incidence, while shear loads are highest on the outward hinges and for oblique incidence. The FBW reduces hinge loads as it attenuates the high-frequency wave energy that largely drives relative motions between PV modules.