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Abstract-This paper focuses on modeling, control and simulation of a 500 horizontal axis prototype wind turbine that is being developed in the context of the MILRES (National Wind Energy Systems) Project in Turkey. The prototype turbine is designed as variable speed variable pitch angle wind turbine due to its advantages in efficiency and the structure. Aerodynamic, mechanical and electrical subsystems along with pitch and torque controllers are designed in both Matlab/Simulink and S4WT simulation environments. The main control purpose is to generate a power curve that is close to the ideal power curve where the energy efficiency is maximized below the nominal wind speed of 11 / and the power is limited to the nominal value above the nominal wind speed. Turbsim is integrated with both environments to generate a realistic wind profile of Kaimal turbulence model. The performance analysis of the prototype turbine is done under the power production scenario in both environments. Start up, emergency stop, shut down and parked scenarios are also implemented in S4WT.

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Research on swarm robotics has become increasingly important in the last three decades. One of the major research directions in swarm robotics is the control of the formation of swarm robots to perform various tasks in 2D or 3D environments. In this paper, we propose a new planar (2D) formation control framework based on a dynamic version of elliptic Fourier descriptors (EFDs) and develop formation controllers that enable robots to form the desired shapes. The main advantage of this method over more traditional approaches in the literature is its flexibility in the representation of the desired shape. The formation can be virtually any arbitrary planar closed curve. Representation by EFDs becomes much more powerful as the number of harmonics in the representation increases. Performance of the proposed formation controller is tested in three simulations where desired swarm formations modelled by EFDs with two, three and six harmonics are considered. Results are quite promising.