scholarly journals Water entry of a body which moves in more than six degrees of freedom

2015 ◽  
Vol 471 (2177) ◽  
pp. 20150058 ◽  
Author(s):  
Y.-M. Scolan ◽  
A. A. Korobkin
Keyword(s):  
Degrees Of Freedom ◽  
Early Stage ◽  
Three Dimensional ◽  
Vertical Displacement ◽  
Oblique Impact ◽  
Water Entry ◽  
The Body ◽  
Body Motion ◽  
Elliptic Paraboloid ◽  
Over Time

The water entry of a three-dimensional smooth body into initially calm water is examined. The body can move freely in its 6 d.f. and may also change its shape over time. During the early stage of penetration, the shape of the body is approximated by a surface of double curvature and the radii of curvature may vary over time. Hydrodynamic loads are calculated by the Wagner theory. It is shown that the water entry problem with arbitrary kinematics of the body motion, can be reduced to the vertical entry problem with a modified vertical displacement of the body and an elliptic region of contact between the liquid and the body surface. Low pressure occurrence is determined; this occurrence can precede the appearance of cavitation effects. Hydrodynamic forces are analysed for a rigid ellipsoid entering the water with 3 d.f. Experimental results with an oblique impact of elliptic paraboloid confirm the theoretical findings. The theoretical developments are detailed in this paper, while an application of the model is described in electronic supplementary materials.

Simulation of water entry of a wedge through free fall in three degrees of freedom

2010 ◽  
Vol 466 (2120) ◽  
pp. 2219-2239 ◽  
Author(s):  
G. D. Xu ◽  
W. Y. Duan ◽  
G. X. Wu
Keyword(s):  
Degrees Of Freedom ◽  
Velocity Potential ◽  
Free Fall ◽  
Water Entry ◽  
Auxiliary Function ◽  
The Body ◽  
Body Motion ◽  
Time Stepping ◽  
The Impact ◽  
Three Degrees Of Freedom

The water entry problem of a wedge through free fall in three degrees of freedom is studied through the velocity potential theory for the incompressible liquid. In particular, the effect of the body rotation is taken into account, which seems to have been neglected so far. The problem is solved in a stretched coordinate system through a boundary element method for the complex potential. The impact process is simulated based on the time stepping method. Auxiliary function method has been used to decouple the mutual dependence between the body motion and the fluid flow. The developed method is verified through results from other simulation and experimental data for some simplified cases. The method is then used to undertake extensive investigation for the free fall problems in three degrees of freedom.

scholarly journals Three-dimensional oblique water-entry problems at small deadrise angles

2012 ◽  
Vol 711 ◽  
pp. 259-280 ◽  
Author(s):  
M. R. Moore ◽  
S. D. Howison ◽  
J. R. Ockendon ◽  
J. M. Oliver
Keyword(s):  
Three Dimensional ◽  
Oblique Impact ◽  
Water Entry ◽  
Rigid Bodies ◽  
Normal Impact ◽  
Displacement Potential ◽  
Pressure Profiles ◽  
The Relationship ◽  
Wagner Theory ◽  
The Ideal

AbstractThis paper extends Wagner theory for the ideal, incompressible normal impact of rigid bodies that are nearly parallel to the surface of a liquid half-space. The impactors considered are three-dimensional and have an oblique impact velocity. A formulation in terms of the displacement potential is used to reveal the relationship between the oblique and corresponding normal impact solutions. In the case of axisymmetric impactors, several geometries are considered in which singularities develop in the boundary of the effective wetted region. We present the corresponding pressure profiles and models for the splash sheets.

Rolling Condition and Gyroscopic Moments in Curve Negotiations

2012 ◽  
Author(s):  
Ahmed A. Shabana ◽  
Martin B. Hamper ◽  
James J. O’Shea
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
The Body ◽  
Contact Forces ◽  
Body Motion ◽  
Global Coordinate System ◽  
Gyroscopic Moment ◽  
Absolute Angular Velocity ◽  
Pure Rolling ◽  
The Stability

In vehicle system dynamics, the effect of the gyroscopic moments can be significant during curve negotiations. The absolute angular velocity of the body can be expressed as the sum of two vectors; one vector is due to the curvature of the curve, while the second vector is due to the rate of changes of the angles that define the orientation of the body with respect to a coordinate system that follows the body motion. In this paper, the configuration of the body in the global coordinate system is defined using the trajectory coordinates in order to examine the effect of the gyroscopic moments in the case of curve negotiations. These coordinates consist of arc length, two relative translations and three relative angles. The relative translations and relative angles are defined with respect to a trajectory coordinate system that follows the motion of the body on the curve. It is shown that when the yaw and roll angles relative to the trajectory coordinate system are constrained and the motion is predominantly rolling, the effect of the gyroscopic moment on the motion becomes negligible, and in the case of pure rolling and zero yaw and roll angles, the generalized gyroscopic moment associated with the system degrees of freedom becomes identically zero. The analysis presented in this investigation sheds light on the danger of using derailment criteria that are not obtained using laws of motion, and therefore, such criteria should not be used in judging the stability of railroad vehicle systems. Furthermore, The analysis presented in this paper shows that the roll moment which can have a significant effect on the wheel/rail contact forces depends on the forward velocity in the case of curve negotiations. For this reason, roller rigs that do not allow for the wheelset forward velocity cannot capture these moment components, and therefore, cannot be used in the analysis of curve negotiations. A model of a suspended railroad wheelset is used in this investigation to study the gyroscopic effect during curve negotiations.

Ontogeny, structure and functional morphology of some spiny Ctenopyge species (Trilobita) from the upper Cambrian of Västergötland, Sweden

2003 ◽  
Vol 94 (2) ◽  
pp. 115-143 ◽  
Author(s):  
Euan N. K. Clarkson ◽  
John Ahlgren ◽  
Cecilia M. Taylor
Keyword(s):  
Early Stage ◽  
Three Dimensional ◽  
Abundant Species ◽  
The Body ◽  
Side View ◽  
Extended Body ◽  
Upper Cambrian ◽  
Bedding Planes ◽  
Considerable Length ◽  
Large Adult

ABSTRACTThis paper completes the description of intact and three-dimensional Ctenopyge species from the upper Cambrian Peltura minor Zone in Västergötland, central Sweden. All these species are present together, on the same bedding planes. The most abundant species, Ctenopyge (Eoctenopyge) angusta Westergård, 1922 has previously been described, and an almost complete ontogeny worked out. C. (Ctenopyge) gracilis Henningsmoen, 1957 is a small trilobite with nine thoracic segments and very long, thin curving and subparallel thoracic spines; the genal spines partially encircle the body. Two axial spines at the rear are of considerable length. When reconstructed in side view, the posterior thoracic spines rise upwards as an inclined fan, but when relaxed the tips of all the thoracic and axial spines come to lie in the same plane as the horizontal genal spines. An almost complete ontogeny is described for this species, and individuals show an evident spinosity from an early stage, but the body size at which thoracic segments are liberated is highly variable. C. (Ctenopyge) ahlbergi n. sp. is a larger, robust and broad species distinguished by long, stout genal spines, ten thoracic segments, and a very spiny body with the first three to four spines expanded into lateral flanges. A degree 6 meraspis shows these flanges already developing. C. (Ctenopyge) rushtoni n. sp has likewise ten thoracic segments, and has stout, broad-based and tapering spines. Incomplete meraspides 6 and 7 are known for this species. In both C. (Ctenopyge) ahlbergi and C. (Ctenopyge) rushtoni there are also two axial spines at the rear, and the extended body would have had a similar rising tail fan to that of C. (Ctenopyge) gracilis. C. (Mesoctenopyge) tumida is also present as a single large adult and several smaller holaspides. In this species the first thoracic segment is confirmed as bearing a pair of long curving spines, somewhat smaller than the encircling genal spines. The remaining thoracic spines are straight and sharp, and evidently longer in young holaspides. There is a single long axial spine on the last segment. No adult pygidium has been found.Some comments on the diversity of the fauna as a whole and the range of functional types are appended.

MADYMO Simulations of Occupant and Vehicle Kinematics in Offset and Oblique Barrier Tests

2005 ◽  
Author(s):  
Rex T. Shea ◽  
Jiri Kral
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Vertical Direction ◽  
Oblique Impact ◽  
Test Method ◽  
Vehicle Interior ◽  
Center Of Rotation ◽  
Frontal Impacts ◽  
Coordinate Origin ◽  
The Right

Oblique and offset impacts occur more frequently than full frontal impacts and the resulting occupant and vehicle kinematics are more complicated. Simulations of these test modes are more involved with added vehicle degrees of freedom. Additional occupant interactions with the vehicle interior need to be considered so that the occupant kinematics can be correlated more accurately. In order to capture the vehicle motion in an offset or oblique impact, a prescribed motion approach is preferred where the vehicle is given a three-dimensional motion with six degrees of freedom. With a planar motion assumption, the dominant angular motion about the vertical direction can be derived from linear accelerations measured at two locations where the vehicle deformation is a minimum. In a previous study the angular kinematics was given to a coordinate origin located on the vehicle centerline and longitudinally near the rear rocker. The instantaneous center of rotation was assumed to be fixed at this point during the event. This is referred to as Method I in this paper. A new approach, referred to as Method II, applied translational displacement to three bodies, which carried the passenger compartment through stiff spring elements. The displacements were integrated from measured accelerations, eliminating the uncertainty of a shifting center of rotation. Both methods assumed the vehicle frame between the front and rear rockers as a rigid body. The IP and steering column intrusions and floor deformations were neglected. The results from both methods were correlated to a pair of 40 kph 30 degree angle impact tests and an IIHS ODB test. Method II showed a slightly better timing correlation for the angle tests and the IIHS ODB test. However, both methods didn’t predict the lateral head contact for the driver in the left angle test and the passenger in the right angle test. More interior details have to be included in the model to capture the lateral motion of the occupants. The prescribed motion method is a more general approach than the commonly used inverse kinematics method, and can be applied to full frontal impact as well. The versatility of the method provides a basis for a modular approach in occupant simulations.

scholarly journals Transformation of vestibular signals for the decisions of hand choice during whole body motion

2019 ◽  
Vol 121 (6) ◽  
pp. 2392-2400 ◽  
Author(s):  
Romy S. Bakker ◽  
Luc P. J. Selen ◽  
W. Pieter Medendorp
Keyword(s):  
Reference Frame ◽  
Early Stage ◽  
Hand Preference ◽  
The Body ◽  
Body Motion ◽  
Whole Body ◽  
Head Orientation ◽  
Inertial Acceleration ◽  
Reach Planning ◽  
The Brain

In daily life, we frequently reach toward objects while our body is in motion. We have recently shown that body accelerations influence the decision of which hand to use for the reach, possibly by modulating the body-centered computations of the expected reach costs. However, head orientation relative to the body was not manipulated, and hence it remains unclear whether vestibular signals contribute in their head-based sensory frame or in a transformed body-centered reference frame to these cost calculations. To test this, subjects performed a preferential reaching task to targets at various directions while they were sinusoidally translated along the lateral body axis, with their head either aligned with the body (straight ahead) or rotated 18° to the left. As a measure of hand preference, we determined the target direction that resulted in equiprobable right/left-hand choices. Results show that head orientation affects this balanced target angle when the body is stationary but does not further modulate hand preference when the body is in motion. Furthermore, reaction and movement times were larger for reaches to the balanced target angle, resembling a competitive selection process, and were modulated by head orientation when the body was stationary. During body translation, reaction and movement times depended on the phase of the motion, but this phase-dependent modulation had no interaction with head orientation. We conclude that the brain transforms vestibular signals to body-centered coordinates at the early stage of reach planning, when the decision of hand choice is computed. NEW & NOTEWORTHY The brain takes inertial acceleration into account in computing the anticipated biomechanical costs that guide hand selection during whole body motion. Whereas these costs are defined in a body-centered, muscle-based reference frame, the otoliths detect the inertial acceleration in head-centered coordinates. By systematically manipulating head position relative to the body, we show that the brain transforms otolith signals into body-centered coordinates at an early stage of reach planning, i.e., before the decision of hand choice is computed.

scholarly journals Oblique impact of a smooth body on a thin layer of inviscid liquid

2013 ◽  
Vol 469 (2151) ◽  
pp. 20120615 ◽  
Author(s):  
T. I. Khabakhpasheva ◽  
A. A. Korobkin
Keyword(s):  
Body Surface ◽  
High Speed ◽  
Degrees Of Freedom ◽  
Hydrodynamic Pressure ◽  
Oblique Impact ◽  
The Body ◽  
Second Stage ◽  
Smooth Body ◽  
Vertical Displacements ◽  
The Impact

The two-dimensional motion of a rigid body with a smooth surface is studied during its oblique impact on a liquid layer. The problem is coupled: the three degrees of freedom of the moving body are determined together with the liquid flow and the hydrodynamic pressure along the wetted part of the body surface. The impact process is divided into two temporal stages. During the first stage, the wetted region expands at a high speed with jetting flows at both ends of the wetted region. In the second stage, the free surface of the liquid is allowed to separate from the body surface. The position of the separation point is determined with the help of the Brillouin–Villat condition. Calculations are performed for elliptic cylinders of different masses and with different orientations and speeds before the impact. The horizontal and vertical displacements of the body, as well as its angle of rotation and corresponding speeds are investigated. The model developed remains valid until the body either touches the bottom of the liquid or rebounds from the liquid.

ENVELOPING SURFACES AND ADMISSIBLE VELOCITIES OF HEAVY RIGID BODIES

2004 ◽  
Vol 14 (08) ◽  
pp. 2525-2553 ◽  
Author(s):  
IGOR N. GASHENENKO ◽  
PETER H. RICHTER
Keyword(s):  
Three Dimensional ◽  
Rigid Bodies ◽  
First Integrals ◽  
The Body ◽  
Heegaard Splitting ◽  
Body Motion ◽  
Invariant Sets ◽  
Poisson Problem ◽  
Integral Manifolds ◽  
Angular Velocities

The general Euler-Poisson problem of rigid body motion is investigated. We study the three-dimensional algebraic level surfaces of the first integrals, and their topological bifurcations. The main result of this article is an analytical and qualitatively complete description of the projections of these integral manifolds to the body-fixed space of angular velocities. We classify the possible types of these invariant sets and analyze the dependence of their topology on the parameters of the body and the constants of the first integrals. Particular emphasis is given to the enveloping surfaces of the sets of admissible angular velocities. Their pre-images in the reduced phase space induce a Heegaard splitting which lends itself for a general choice of complete Poincaré surfaces of section, irrespective of whether or not the system is integrable.

Design, dynamic modelling and control of a bio-inspired helical swimming microrobot with three-dimensional manoeuvring

2016 ◽  
Vol 39 (7) ◽  
pp. 1037-1046 ◽  
Author(s):  
Hossein Nourmohammadi ◽  
Jafar Keighobadi ◽  
Mohsen Bahrami
Keyword(s):  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Dynamic Modelling ◽  
Linearization Method ◽  
The Body ◽  
Motion Trajectories ◽  
Mems Technology ◽  
Propulsion Force ◽  
Resistive Force Theory

Biomedical applications of swimming microrobots comprising of drug delivery, microsurgery and disease monitoring make the research more interesting in MEMS technology. In this paper, inspired by the flagellar motion of microorganisms like bacteria and also considering the recent attempts in one/two-dimensional modelling of swimming microrobots, a three degrees-of-freedom swimming microrobot is developed. In the proposed design, the body of the swimming microrobot is driven by multiple prokaryotic flagella which produce a propulsion force through rotating in the fluid media. The presented swimming microrobot has the capability of doing three-dimensional manoeuvres and moving along three-dimensional reference paths. In this paper, following dynamical modelling of the microrobot motion, a suitable controller is designed for path tracking purposes. Based on the resistive-force theory, the generated propulsion force by the flagella is modelled. The feedback linearization method is applied for perfect tracking control of the swimming microrobot on the desired motion trajectories. It is seen that, by the use of three flagella, the microrobot is able to perform three-dimensional manoeuvres. From the simulation results, the tracking performance of the designed control system is perfectly guaranteed which enables the microrobot to perform the desired three-dimensional manoeuvres and follow the desired trajectory.

scholarly journals Clues to basis of exploratory behaviour of the C. elegans snout from head somatotropy

2018 ◽  
Vol 373 (1758) ◽  
pp. 20170367 ◽  
Author(s):  
John White
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
The Body ◽  
Exploratory Behaviour ◽  
Neural Basis ◽  
Complex Behaviour ◽  
Freedom Of Movement ◽  
C Elegans ◽  
Exploratory Movements ◽  
Ventral Muscle

Wave propagation during locomotory movements of Caenorhabditis elegans is constrained to a single dorso/ventral plane. By contrast, the tip of the head (snout) can make rapid exploratory movements in all directions relative to the body axis. These extra degrees of freedom are probably important for animals to seek and identify desirable passages in the interstices of the three-dimensional matrix of soil particles, their usual habitat. The differences in degrees of freedom of movement between snout and body are reflected in the innervation of the musculature. Along the length of the body, the two quadrants of dorsal muscle receive common innervation as do the two quadrants of ventral muscle. By contrast, muscles in the snout have an octagonal arrangement of innervation. It is likely that the exploratory behaviour of the snout is mediated by octant-specific motor and sensory neurons, together with their associated interneurons. The well-defined anatomical structure and neural circuitry of the snout together with behavioural observations should facilitate the implementation of models of the neural basis of exploratory movements, which could lead to an understanding of the basis of this relatively complex behaviour, a behaviour that has similarities to foraging in some vertebrates. This article is part of a discussion meeting issue ‘Connectome to behaviour: modelling C. elegans at cellular resolution’.

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