Momentum models or streamtube models represent one of the fundamental approaches in modeling the aerodynamics of straight bladed vertical axis wind turbine (SB-VAWT) of Darrieus type. They are based on momentum (actuator disk) theory and widely used in performance evaluation of VAWTs. In this short review, the authors have strived to compile the basic momentum models that have been widely assumed in the literature for design and performance estimation of SB-VAWTs of Darrieus type. A comprehensive demonstration of the formulation needed for the implantation of these models is also proposed. Three streamtube models are investigated in this paper, namely, the single streamtube (SST), the multiple streamtube (MST), and the double multiple streamtube (DMST) models. Each of these models has it merits and demerits which are also thoroughly discussed in this review.

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This work presents the kinematics model of an RA-02 (a 4 DOF) robotic arm. The direct kinematic problem is addressed using both the Denavit-Hartenberg (DH) convention and the product of exponential formula, which is based on the screw theory. By comparing the results of both approaches, it turns out that they provide identical solutions for the manipulator kinematics. Furthermore, an algebraic solution of the inverse kinematics problem based on trigonometric formulas is also provided. Finally, simulation results for the kinematics model using the Matlab program based on the DH convention are presented. Since the two approaches are identical, the product of exponential formula is supposed to produce same simulation results on the robotic arm studied.

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