Electromagnetic energy harvesters have been used to capture low-frequency vibration energy of large machines such as diesel generators. The structure of an electromagnetic energy harvester is either planar or tubular. Past research efforts focus on optimally designing each structure separately. An objective comparison between the two structures is necessary in order to decide which structure is advantageous. When comparing the structures, the design variations such as magnetization patterns and the use of yokes must also be considered. In this study, extensive comparisons are made covering all possible topologies of an electromagnetic energy harvester. A bench mark harvester is defined and the parameters that produce maximum output power are identified for each topology. It is found that the tubular harvesters generally produce larger output power than the planar counterparts. The largest output power is generated by the tubular harvester with a Halbach magnetization pattern (94.7 mW). The second best is the tubular harvester with axial magnetization pattern (79.1 mW) when moving yokes are inserted between permanent magnets for flux concentration. When cost is of primary concern, the tubular harvester with axial pattern may become a best option.

The Crabster CR200 is an underwater walking robot inspired by crabs and lobsters, designed for precise seabed inspection and manipulation. It maintains stability and position on the seafloor, even in strong currents, by adjusting its posture through six legs, each with four degrees of freedom. The key advantage of the CR200 lies in its ability to resist drifting in strong currents by adapting its posture to maintain its position on the seafloor. However, information is still lacking on which specific posture generates the maximum downforce to ensure optimal stability in the presence of currents and the seabed. This study aims to determine the fluid forces acting on the CR200 in various postures using Computational Fluid Dynamics (CFD) and identify the posture that generates the maximum downforce. The posture is defined by two parameters: angle of attack and seafloor clearance, represented by the combination of the robot’s pitch angle and distance to the seabed. By varying these parameters, we identified the posture that produces the greatest downforce. Through a series of analyses, we identified two main fluid dynamic principles affecting the downforce on a robot close to the seabed. First, an optimal pitch angle exists that generates the maximum downward lift on the robot’s body. Secondly, there is an ideal distance from the seabed that produces maximum suction on the bottom surface, thereby creating a strong Venturi effect. Based on these principles, we determined the optimal robot posture to achieve maximum downforce in strong current conditions. The optimal underwater robot posture identified in this study could be applied to similar robots operating on the seafloor. Furthermore, the methodology adopted in this study for determining the optimal posture can serve as a reference for establishing operational postures for similar underwater robots.

Active magnetic bearings consume much less power than conventional passive bearings, especially when power-minimizing controllers are employed. Several power-minimizing controllers have been proposed, such as variable bias controllers and switching controllers. In this paper, we present an appraisal of the power-minimizing control algorithms for active magnetic bearings in an attempt to provide an objective guideline on the merits of the control algorithms. In order for the appraisal, we develop an unified and consistent model of active magnetic bearing systems. The performances of the power-minimizing controllers are assessed through this model. The results show that the power-minimizing controllers indeed save considerable power when the machine state is relatively steady. However, a simple proportional-derivative type controller is on a par with the much more complex power-minimizing controllers in terms of power consumption when the machine is experiencing transient loads.