Objective of this project work is

1. To estimate all added mass and drag matrices for SPARUS AUV (Main body, Antenna, Thrusters).
2. Analysing these at CG and CO of the body.
3. Simulation and validation of these results.

Group Members:

• Madhushree Sannigrahi
• Abhimanyu Bhowmik

The Sparus AUV

Final added Mass matrix calculated at the center of boyouncy of the AUV. The added Mass consist of added masses of hull, antenna and thrusters. The effects of USBL has been considered non significant.

$$ M_{added}^{CB} = \begin{bmatrix} 1.7570 & 0 & 0 & 0 & -0.0226 & 0 \\ 0 & 57.6831 & 0 & 1.0735 & 0 & 3.7376 \\ 0 & 0 & 59.5259 & 0 & -4.7884 & 0 \\ 0 & 1.0735 & 0 & 0.0925 & 0 & 0.0392 \\ -0.0226 & 0 & -4.7884 & 0 & 10.3735 & 0 \\ 0 & 3.7376 & 0 & 0.0392 & 0 & 9.7682 \\ \end{bmatrix} $$

The objective is to calculate the drag matrices for each component of an AUV in its centre of gravity. This involves computing individual drag matrices for each component initially expressed in the component’s buoyancy centre and then transferring them to the AUV’s centre of gravity. Additionally, the following assumption is used for calcualting drag :

Final drag matrices for each of the objects:

$$D_{\text{Hull}} = \begin{bmatrix} 2.0774 & 0 & 0 & 0 & 0 & 0 \\ 0 & 55.2000 & 0 & 0 & 0 & 0 \\ 0 & 0 & 55.2000 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 7.0656 & 0 \\ 0 & 0 & 0 & 0 & 0 & 7.0656 \\ \end{bmatrix}$$

$$D_{\text{Antenna}} = \begin{bmatrix} 6.9041 & 0 & 0 & 0 & 0 & 0 \\ 0 & 17.4420 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0.0036 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0.0090 \\ \end{bmatrix}$$

$$D_{\text{Thruster}} = \begin{bmatrix} 0.1695 & 0 & 0 & 0 & 0 & 0 \\ 0 & 2.3159 & 0 & 0 & 0 & 0 \\ 0 & 0 & 2.3159 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0 \\ 0 & 0 & 0 & 0 & 0.0009 & 0 \\ 0 & 0 & 0 & 0 & 0 & 0.0009 \\ \end{bmatrix} $$

Simulation Setup in MatLAB

Surge motion, a fundamental movement, should exhibit stability during execution. By activating the right and left thrusters at 30% power in the positive x-axis direction, the craft moved forward.

Simulation Results for Case I

During our analysis, heave motion, considered a fundamental movement of the craft, should ideally demonstrate stability during execution. By activating the vertical thruster at 30% power in the positive z-axis direction, the craft dived into the water.

Simulation Results for Case II

Executing yaw motion, another fundamental movement, should ideally demonstrate stability. By activating the right thruster at 5% power in the positive x-axis direction and the left thruster at 10% power, the craft initiates a left turn.

Simulation Results for Case III

Add the dependency:

npm i react-native-bottom-bar

"react-native-bottom-bar": "WrathChaos/react-native-bottom-bar#expo"

You must install these dependencies!

"@freakycoder/react-native-helpers": ">= 1.0.0",
"react-native-androw": ">= 0.0.31",
"react-native-vector-icons": ">= 6.0.0",
"react-native-linear-gradient": ">= 2.4.x",
"react-native-dynamic-vector-icons": ">= x.x.x"

<BottomBar
  style={style}
  shapeColor={shapeColor}
  mainIcon={mainIcon}
  mainIconColor={mainIconColor}
  mainIconGradient={mainIconGradient}
  mainIconComponent={mainIconComponent}
  miniButtonsColor={miniButtonsColor}
  firstIconComponent={firstIconComponent}
  secondIconComponent={secondIconComponent}
  thirdIconComponent={thirdIconComponent}
  fourthIconComponent={fourthIconComponent}
/>

• I just shared the example project on Expo, simply run on your device to check what it is: via Expo OR check the code, and yes! 🙂 all of the images, screenshots are directly taken from the this example. Of course, you can simply clone the project and run the example on your own environment.

Thank you RN Typography Team for the ShowcaseScreen 🙂 It has a great design.

FreakyCoder, kurayogun@gmail.com

React Native Bottom Bar Library is available under the MIT license. See the LICENSE file for more info.

Add the dependency:

npm i react-native-bottom-bar

"react-native-bottom-bar": "WrathChaos/react-native-bottom-bar#expo"

You must install these dependencies!

"@freakycoder/react-native-helpers": ">= 1.0.0",
"react-native-androw": ">= 0.0.31",
"react-native-vector-icons": ">= 6.0.0",
"react-native-linear-gradient": ">= 2.4.x",
"react-native-dynamic-vector-icons": ">= x.x.x"

<BottomBar
  style={style}
  shapeColor={shapeColor}
  mainIcon={mainIcon}
  mainIconColor={mainIconColor}
  mainIconGradient={mainIconGradient}
  mainIconComponent={mainIconComponent}
  miniButtonsColor={miniButtonsColor}
  firstIconComponent={firstIconComponent}
  secondIconComponent={secondIconComponent}
  thirdIconComponent={thirdIconComponent}
  fourthIconComponent={fourthIconComponent}
/>

• I just shared the example project on Expo, simply run on your device to check what it is: via Expo OR check the code, and yes! 🙂 all of the images, screenshots are directly taken from the this example. Of course, you can simply clone the project and run the example on your own environment.

Thank you RN Typography Team for the ShowcaseScreen 🙂 It has a great design.

FreakyCoder, kurayogun@gmail.com

React Native Bottom Bar Library is available under the MIT license. See the LICENSE file for more info.

FOLDER STRUCTURE HIERARCHY

.
└── appium-webdriverio-cucumber/
    ├── allure-reports(contains report after test execution)/
    │   └── index.html(open with browser)
    ├── app/
    │   └── andriod/
    │       └── application.apk(android apk used)
    ├── features/
    │   ├── pageObjects(Page specific pom classes)
    │   ├── stepDefinitions(Step definitions of feature file to page Objects)
    │   └── login.feature(Gherkin BDD cucumber)
    ├── testdata/
    │   └── testdata.js(Separated dynamic testdata logic)
    ├── .gitignore
    ├── LICENSE
    ├── README.md
    ├── package-lock.json
    └── package.json

TECH STACK USED(latest versions)

APPIUM 2.10.3
WEBDRIVER IO 8.39.0
NODE 20.10.0
JAVASCRIPT
CUCUMBER 8.39.0
ANDRIOD STUDIO 2023
APPIUM INSPECTOR 2023
DEVICE: PIXEL XL GOOGLE
VERSION: ANDRIOD 13 TIRAMISU
APPLICATION: Android.SauceLabs.Mobile.Sample.app.2.7.1.apk

PREREQUISITES

Node.js and npm
Java Development Kit (JDK)
Android SDK (for Android automation)
Appium
WebdriverIO CLI
Drivers (e.g., UI Automator 2)
Git
An IDE (e.g., Visual Studio Code)

COMMAND TO RUN

npm install

Run all testcases

npx wdio wdio.conf.js

Run individually

npx wdio --spec .\features\login.feature

Run from tags directly from CLI

npx wdio wdio.conf.js --cucumberOpts.tagExpression='@yourTag'

Note:

1)Device/Emulator running

2)Port 4723 is not occupied by any other process or service

Command to check which process running on port and stop it.

netstat -ano | findstr :4723 
taskkill /PID <PID> /F

RUN VIA TAGS

By setting cucumberOpts as tagExpression: ‘@validUser’ in file wdio.config.js

tagExpression: '@validUser',

SPECS in wdio.config.js

specs: [
'./features/**/*.feature'
],

CAPABILITIES

capabilities: [{
// capabilities for local Appium web tests on an Android Emulator
platformName: 'Android',
'appium:deviceName': 'Demo',
'appium:platformVersion': '13.0',
'appium:automationName': 'UiAutomator2',
'appium:app': path.join(process.cwd(), './app/andriod/Android.SauceLabs.Mobile.Sample.app.2.7.1.apk'),
"appium:appActivity": "com.swaglabsmobileapp.MainActivity",
"appium:appPackage": "com.swaglabsmobileapp",
'appium:noReset': false,
'appium:newCommandTimeout': 7200,
'appium:fullReset': true,
}],

SERVICES AND LOGGING

services: [
['appium', {
args: {
address: '127.0.0.1',
port: 4723
},
command: 'appium',
logPath: './'
}]
],

STEP DEFINITION

wdio.conf.js in cucumberOpts add below:

require: ['./features/step-definitions/*.js'],

REPORTER: ALLURE

docs:https://webdriver.io/docs/allure-reporter/

npm install @wdio/allure-reporter –save-dev

npm i allure-commandline

Add below configurations:

reporters: ['spec', ['allure', {
outputDir: 'allure-results',
disableWebdriverStepsReporting: true,
disableWebdriverScreenshotsReporting: true,
}]],

onComplete: function () {
const reportError = new Error('Could not generate Allure report')
const generation = allure(['generate', 'allure-results', '--clean'])
return new Promise((resolve, reject) => {
const generationTimeout = setTimeout(
() => reject(reportError), 5000)

            generation.on('exit', function (exitCode) {
                clearTimeout(generationTimeout)

                if (exitCode !== 0) {
                    return reject(reportError)
                }

                console.log('Allure report successfully generated')
                resolve()
            })
        })
    }

EXECUTION

TAGS EXECUTION

REPORTS

The slides of the different lectures are available on SUPAERO’s LMS.
Course with participation of Professors/researchers from SUPAERO, ICA, ONERA

On some vulgarization articles

Linkedin on mdo

Theconversation on topopt

SLIDES WITH AUDIO

For students not familliar with FEA

Amanote’s tutorial

Course 1

Course 1 outro

Course 2

Course 3

Lecture note thanks to Prof Ning and Martins

NEW!! Course 4 !! Ecodesign

TUTORIALS on gradient sensitivity C1/C2

TutorialC1C2

TUTORIALS on gradient sensitivity C1/C2

TUTORIALS on TOPOPT C3

TOPOPT

ADVANCED TOPOPT (FOR SUPAERO’s students ONLY)

AdvTOPOPT

A short intro by Prof. MORLIER

Professors Martins and Ning have published a new text book on multidisciplinary design optimization, and they’ve generously decided to give the digital version away for free!
There are good lessons on Problem formulation (Section 1.2), comparisons of gradient-based and gradient-free algorithms (Sections 1.4.1-1.4.3), and overview of numerical solver algorithms (Section 3.6), and a great introduction to various MDO concepts (Section 13) — including an introduction to the MAUD equations that underpin OpenMDAO (Section 13.2.6). If you want to learn more about some of the various techniques for taking derivatives of your numerical models, I highly recommend Chapter 6.
They’ve provide code and examples from the textbook in a companion github repo. You can learn more about how AD works, test out surrogate modeling methods, or try out a 10 bar truss example.
They also have a set of lectures based on the content of the book free on youtube

Go deeper in MDAO by Prof. Morlier

Q&A session

detailed planning with my colleagues of ONERA
Introduction MDO/MDA, formulation, google colab, OpenMDAO, sellar problem

Course and Practice 2024

More references

Artificial Inteligence for Engineering

Surrogate Modeling

Machine Learning in Mechanics thanks to Miguel Bessa

To go deeper in Surrogate Modeling

Play with SMT

REFERENCES

Over the year, Thanks to my colleagues of UoM, ONERA, Supaero and Airbus.

MDO

“Principles of Optimal Design Modeling and Computation”, P.Y. Papalambros & D.J. Wilde, Cambridge University Press

“Elements of Structural Optimization”, R.T. Haftka & Z. Gurdal, Kluwer

SMO course, Haftka, Florida Institue of Technology

Optimisation structurale et multidisciplinaire P. Duysinx, ULB

Multidisciplinary System Design Optimization, Prof. Olivier de Weck, Prof. Karen Willcox MIT Course Number: ESD.77 / 16.888

Design Optimization Tools : Course Material Pascal Etman, Piet Schreurs, Rob Bastiaans EIT Eindhoven

Engineering Optimization, Fred van Keulen, TU DELFT

Topopt.dk, Topology Optimization, Ole Sigmund , Mechanical Engineering Technical University of Denmark (DTU)

Optimisation de structures, Gregoire Allaire, X

Optimisation numerique, Aleks Janka, Université de Fribourg

Projeto principal desenvolvido com o conteúdo estudado ao longo da trilha de NodeJS do Bootcamp Ignite da Rocketseat

• aws-sdk
• bcryptjs
• class-transformer
• cors
• cross-env
• csv-parse
• dayjs
• dotenv
• docker
• docker-compose
• express
• express-async-errors
• handlebars
• jest
• jsonwebtoken
• mime
• multer
• nodemailer
• nodejs
• rate-limiter-flexible
• redis
• supertest
• swagger-ui-express
• typescript
• tsyringe
• typeorm
• ts-node-dev
• uuid

• editorconfig
• eslint
• prettier

RF => Requisitos funcionais

• Deve ser possível cadastrar um novo carro.

RN => Regras de negócio

• Não deve ser possível cadastrar um carro com uma placa já existente.

• O carro deve ser cadastrado, por padrão, disponível.

• Apenas usuários admin podem realizar o cadastro.

RF => Requisitos funcionais

• Deve ser possível listar os carros disponíveis.
• Deve ser possível listar todos os carros disponíveis pelo nome da categoria.
• Deve ser possível listar todos os carros disponíveis pelo nome da marca.
• Deve ser possível listar todos os carros disponíveis pelo nome do carro.

RN => Regras de negócio

• Usuário não precisa estar logado no sistema.

RF => Requisitos funcionais

• Deve ser possível cadastrar uma especificação para um carro.

RN => Regras de negócio

• Não deve ser possível cadastrar uma especificação para um carro não cadastrado.

• Não deve ser possível cadastrar uma especificação já existente para o mesmo carro.

RF => Requisitos funcionais

• Deve ser possível cadastrar a imagem do carro.

RNF => Requisitos não funcionais

• Utilizar multer para realizar o upload dos arquivos.

RN => Regras de negócio

• O usuário deve cadastrar mais de uma imagem para o mesmo carro.
• O usuário responsável pelo cadastro deve ser uma admin.

RF => Requisitos funcionais

• Deve ser possível cadastrar um aluguel

RNF => Requisitos não funcionais

• Utilizar multer para realizar o upload dos arquivos.

RN => Regras de negócio

• O aluguel deve ter duração mínima de 24 horas.
• Não deve ser possível cadastrar um novo aluguel caso já exista um aberto para o mesmo usuário
• Não deve ser possível cadastrar um novo aluguel caso já exista um aberto para o mesmo carro
• O usuário deve estar logado na aplicação
• Ao realizar um aluguel o status do carro deverá ser alterado para indisponível

RF => Requisitos funcionais

• Deve ser possível realizar a devolução de um carro

RN => Regras de negócio

• Se o carro for devolvido com menos de 24 horas devera ser cobrado diária completa
• Ao realizar a devolução o carro deverá ser liberado para outro aluguel
• A realizar a devolução o usuário devera ser liberado para outro aluguel
• Ao realizar a devolução devera ser calculado o total do aluguel
• Caso o horário de devolução seja superior a previsto na entrega devera ser cobrado multa proporcional aos dias de atraso
• Caso haja multa devera ser somado ao total do aluguel
• O usuário deve estar logado na aplicação

RF => Requisitos funcionais

• O usuário deve conseguir recuperar a senha informando o email
• O usuário deve receber um email com o passo a passo para a recuperação de senha
• O usuário deve conseguir inserir uma nova senha

RN => Regras de negócio

• O usuário precisa informar uma nova senha
• o link enviado para a recuperação deve expirar em 3 horas

This package set for the SILE typesetting system aims at providing barcode support.

It currently provides the barcodes.ean13 package, which allows printing out an EAN-13 barcode, suitable for an ISBN (or ISSN, etc.)

The “human readable interpretation” in this example uses the “Hack” font. Any other monospace font may be used, and a better result is obtained with an OCR-B font. A good recommendation is Matthew Skala’s “OCR B” version, which is considered public domain and is included in this package for mere convenience, see details.

On a slightly related topic, you might also be interested in the qrcode.sile package set.

These packages require SILE v0.15.12.

Installation relies on the luarocks package manager.

To install the latest version, you may use the provided “rockspec”:

luarocks install barcodes.sile

(Refer to the SILE manual for more detailed 3rd-party package installation information.)

Examples are provided in the examples folder.

The in-code package documentation may also be useful. A readable version of the documentation is included in the User Manual for the resilient.sile collection of classes and packages.

All SILE-related code and samples in this repository are released under the MIT license, (c) 2022-2025 Omikhleia.

This project is a simple lambda function that create AWS ParameterStore backup, sending the file backup to s3 bucket.

To run this project, using Python:

cd lambda
sudo pip3 install requests -t .
sudo pip3 install pytz -t .
sudo zip -r lambda_function.zip .
sudo rm -rf -v !("lambda_function.py"|"lambda_function.zip")

After run this commands:

• Create a lambda function on aws and update the code using “Upload from .zip file”, do upload the file “lambda_function.zip” and your code will be ok.

• Go to IAM and create two policies (“ListParams” and “S3AllowPull”), to create the policies use the json template in this folder ‘lambda/Policies/’.

• After created the policies, go to IAM > Roles > your-lambda-role. Go to “Add permissions” and attach the policies that you created.

• Now, create a bucket s3 with Versioning enabled, copy the arn bucket and paste on your policy ‘S3AllowPull’.

• First, configure your credentials aws who you that will be using to create parameters.
• Now, download the backup file and paste local path into your code, on csv parameters.

Done!

Docs Universe is a web based Dapp that allows to store important assets on IPFS instance. Ownership of files is securely recorded on the Ethereum blockchain making it the best platform to store assets

The store feature is a feature for uploading files to IPFS which is both a create operation on the application and write operation on the blockchain. The ownership feature can check the ownership of the uploaded file while allowing users to be able to retrieve files that have been saved, this is an implementation of read operations on the application and on the blockchain. The transfer feature allows users to be able to make ownership transfers of files that have been previously stored, this illustrates the implementation of update operation on the application and write operation on the blockchain.

• Blockchain: Ethereum
• Smart Contract: Solidity ^0.8.0
• Front-end: React Truffle Box + web3.js + Boostrap
• IPFS: ipfs-api + Infura

Execute the steps below sequentially.

Exposes USB high speed serial port at 2Mb baud for driving led strip using NeoPixelBus library. It’s intended to replace slow Arduino solutions (level shifter 3.3V to 5v may be required). Data integrity check (Fletcher’s checksum) included in new ‘Awa’ protocol for HyperHDR. So no more random flashing caused by serial transmission errors. That option must be checked in HyperHDR to make system works as on the screen below.

Make sure that your serial chip on the ESP8266 can handle 2Mb speed: for example CP2102 can’t as its max speed is 1Mb and you can compile a version for that speed but I think that’s not the point, cheap CH340G can do it without any problems. CH9102x also should work for you, even at 4Mb speed.

There is also my new fork named HyperSerialWLED available with the support for the AWA serial protocol at @2Mb speed for both ESP8266 and ESP32: https://github.com/awawa-dev/HyperSerialWLED Can’t guarantee it will work as stable as HyperSerialEsp8266 because WLED has a lot of other things to do in the backgrounds (ex. handling Wifi) and timing control for the serial port could be at danger for larger number of LEDs. But you don’t need to abandon all the benefits offered by the WLED which can be a big advantage for some users.

Tested with SK6812 RGBW and cheap 1.75$ noname clone of Wemos ESP8266 d1 mini CH340G. The data output is on the GPIO2 (D4 pin for Wemos mini d1), just like WLED for example. Should work with 3-channel RGB led system like WS8212b also.

RGB to RGBW conversion is calibrated for the neutral white channel BTF SK6812 but it can be easily changed (for cool and warm temperature) in the code. Search for “color calibration”. In HyperHDR use “1.5” gamma for red, blue and green for best effect in the “Image Processing” tab.

Esp8266 Wemos D1 mini (CH340) and Wemos D1 mini pro (CP2104)

Why the data integrity check was introduced which causes incompatibility with other software? Because at 2Mb speed many chip-makers allow few percent error in the transmission. And we do not want to have any distracting flashes. Broken frames are abandon without showing them. At 100Hz for 250 leds approximately 1-5% of the frames are broken.

Because Arduino is slow, really slow even at @500000 baud. And no data integrity checking so random flashing may occure… Increasing serial port speed leads to problems with the LED library as most ATMega are at 16MHz only (for comparision Esp8266 is at 80/160MHz). For over 200leds and RGB channel we have merely ~20 frames. For RGBW is even worse. The only advantage of Arduinos is logic at 5V. For Esp8266 level shifter 3.3V to 5V may be required. You can find example of simply and efficient one here: Level shifter for 3.3V logic level

Rpi is very powerful device but for the SK6812 and WS2812b protocol timing of transmission is crucial. It’s hard to maintain it in the multitasking environment.

WLED is a brilliant app and it’s preffered solution in most cases. But sometimes Wifi is not an option: there is a problem with the signal strenght/stability caused by EM interference or obstacles which results in disturbing effects from the LED strip.You can also try https://github.com/awawa-dev/HyperSerialWLED if you don’t want to abandon WLED benefits or you are looking for a version for ESP32.

Arduino: 250 RGB leds, 500000 baud, 100 Hz output from HyperHDR, real output for the LED strip is around 20Hz.
With such slow hardware driver you don’t even need 30FPS from the grabber really:

With HyperSerialEsp8266 you can have over 100Hz refresh rate for 250 RGB and over 80HZ for 250 RGBW LED strips.
 

Statistics are sent to serial port monitor when there is no data incoming. You can read it with any serial port client. This driver is not hiding any information from you.

Recommend to use esphome-flasher

For RGBW LED strip like RGBW SK6812 NEUTRAL white choose: firmware_SK6812_RGBW_NEUTRAL.bin

For RGBW LED strip like RGBW SK6812 COLD white choose: firmware_SK6812_RGBW_COLD.bin

For RGB LED strip like WS8212b or RGB SK6812 variant choose: firmware_WS281x_RGB.bin

For SPI driven RGB LED strip APA102: firmware_SPI_APA102_SK9822_HD107.bin, WS8201: firmware_SPI_WS2801.bin

If you want to disable your first LED because it’s used as a sacrificial level shifter, please use HyperHDR v19

For the RGBW firmware the white channel is automatically calculated and R,G,B channels are corrected.

Using esphome-flasher:

Set Refresh time to zero, Baudrate to 2000000 and you enabled HyperHDR's AWA protocol.
Enabling White channel calibration is optional, if you want to fine tune the white channel balance of your sk6812 RGBW LED strip.
ESP8266/ESP32 handshake could help you to properly initialize the ESP device and enables statistics available in the logs (you must stop the LED device first to get them).

Refresh rate depending on requested refresh rate/LED strip length:

Logic level analyzer, RGB (250 leds, 100Hz)

Logic level analyzer, RGBW (250 leds, 100Hz)

Currently we use PlatformIO to compile the project. Install Visual Studio Code and add PlatformIO plugin. This environment will take care of everything and compile the firmware for you. Low-level LED strip support is provided by the https://github.com/Makuna/NeoPixelBus library.

But there is also an alternative and an easier way. Just fork the project and enable its Github Action. Use the online editor to make changes to the platformio.ini file and save it. Github Action will compile new firmware automatically in the Artifacts archive. It has never been so easy!

Tutorial: https://github.com/awawa-dev/HyperSerialEsp8266/wiki

ESP8266:
For non-SPI LED strip data pin is GPIO2 (usually D4).
For SPI LED strip is: GPIO13 (MOSI, usually D7) and GPIO14 (SCLK/CLOCK, usually D5).

You use it on your own risk.
Don’t touch these firmwares if you don’t know how to put the device in the programming mode if something goes wrong.
As per the MIT license, I assume no liability for any damage to you or any other person or equipment.