On the Normal Component of Centralized Frictionless Collision Sequences

2001 ◽  
Vol 74 (5) ◽  
pp. 908-915 ◽  
Author(s):  
Pieter J. Mosterman
Keyword(s):  
Rigid Body ◽  
Time Scale ◽  
Normal Component ◽  
Expansion Behavior ◽  
Compression And Expansion ◽  
Multiple Impact

A typical assumption for rigid body collisions with multiple impact points is that all collisions occur simultaneously and are synchronized in their compression/expansion behavior, a useful assumption given the microscopic time scale at which collisions occur. In the case in which collisions are dependent upon one another, however, there is interaction between and within compression and expansion phases. Instead of treating the collisions as separate consecutive impacts or by activating all constraints at the same time, a rule is presented that orders the collisions as a sequence of interacting events at a point in time to handle the normal component of the collisions.

Normal Stresses on the Surface of a Rigid Body in an Oldroyd-B Fluid

2001 ◽  
Vol 124 (1) ◽  
pp. 279-280 ◽  
Author(s):  
N. A. Patankar ◽  
P. Y. Huang ◽  
D. D. Joseph ◽  
H. H. Hu
Keyword(s):  
Rigid Body ◽  
Stress Tensor ◽  
Normal Component ◽  
Normal Stresses ◽  
Extra Stress Tensor ◽  
Extra Stress

In this note we present a proof showing that the contribution from the extra stress tensor to the normal component of the stress on the surface of a moving rigid body in an incompressible Oldroyd-B fluid is zero.

Control of Flexible Payloads Grasped by Actuated Grippers Undergoing Large Rigid-Body Motions: Part II — Controllability and Observability

2002 ◽  
Author(s):  
Edward J. Park ◽  
James K. Mills
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Time Scale ◽  
Body Motion ◽  
Deformation Control ◽  
Scale Modeling ◽  
Fixed Interface ◽  
Controllability And Observability ◽  
Scale Behavior ◽  
Selection Of

Part I of this work models the dynamics of a flexible payload grasped by an actuated gripper undergoing large rigid body motion by a robotic manipulator. In Part II, the controllability and observability conditions of the system are discussed. In Part I, the dynamic model of the actuated flexible payload is derived using the component mode synthesis (CMS) method with addition of actuator constraint, fixed-interface vibration and quasi-static modes. Here, the two-time scale modeling (TSM) technique is employed taking advantage of the two-time scale behavior between the quasi-static modes and vibration modes in the dynamic model. Due to the complexity of the resulting system, the controllability and observability conditions are not trivial. Hence, the controllability and observability study addressed herein becomes essential in showing the advantages of using the CMS and TSM techniques in control system design for the problem. A simulation example demonstrates that simultaneous vibration and quasi-static deformation control is achievable by proper selection of each type of modes.

Time Scale of Scour Below Submarine Pipeline Under Combined Waves and Currents With Oblique Incident Angle

2017 ◽  
Author(s):  
Zhipeng Zang ◽  
Guoqiang Tang ◽  
Liang Cheng
Keyword(s):  
Time Scale ◽  
Incident Angle ◽  
Normal Component ◽  
Normal Incidence ◽  
Local Scour ◽  
Embedment Depth ◽  
Buried Pipeline ◽  
Submarine Pipeline ◽  
Waves And Currents ◽  
Temporal And Spatial

Available formulae for the time scale of scour below a submarine pipeline are so far mainly restricted to waves-only and currents-only conditions with normal incidence and no burial of the pipeline. This paper presents experimental results on temporal and spatial developments of local scour below a partially buried pipeline under combined waves and currents with oblique incident angle. There are also some tests with waves-only and current-only conditions for validation purpose. All tests were conducted under live-bed conditions. The maximum Shields parameter is used to formulate the nondimensional time scale of local scour under combined waves and current conditions. The effects of flow incident angle and embedment depth on the time scale of scour were investigated. The results show that the time scale increases with the increase of incident angle and also increases with the increase of the embedment depth for combined waves and current conditions. The effective shields parameter is applied to account for the effect of the oblique incident angle based on the fact that both the normal component and the axial components of the flow contribute to the scour process when the currents or waves approach the pipeline with an oblique angle. It is found that the previously proposed empirical formula for time scale of scour for waves-only and current-only conditions, is also applicable to the combined waves and current conditions, if the maximum Shields parameter is used as the governed parameter in quantifying the time scale.

Influence of the Lagrangian Integral Time Scale Estimation in the Near Wall Region on Particle Deposition

2012 ◽  
Vol 134 (7) ◽  
Author(s):  
Grégory Lecrivain ◽  
Uwe Hampel
Keyword(s):  
High Temperature ◽  
Particle Tracking ◽  
Time Scale ◽  
Particle Deposition ◽  
Normal Component ◽  
Turbulent Dispersion ◽  
Primary Circuit ◽  
Wall Region ◽  
Integral Time Scale ◽  
Integral Time

In a high temperature pebble-bed reactor core where thousands of pebbles are amassed, the friction between the outer graphite layer of the fuel elements triggers the formation of carbonaceous dust. This dust is eventually conveyed by the cooling carrier phase and deposits in the primary circuit of the high temperature reactor. The numerical prediction of carbonaceous dust transport and deposition in turbulent flows is a key safety issue. Most particle tracking procedures make use of the Lagrangian integral time scale to reproduce the turbulent dispersion of the discrete phase. In the present Lagrangian particle tracking procedure, the effect of the Lagrangian integral time scale near the wall is thoroughly investigated. It is found that, in the linear sublayer, a value of the normalized wall normal component of the Lagrangian integral time scale lower that 4 delivers accurate particle deposition velocities. The value worked out here near the wall region is in accordance with Lagrangian integral time scales derived from recent direct numerical simulations.

Control of Flexible Payloads Grasped by Actuated Grippers Undergoing Large Rigid-Body Motions: Part I — Dynamics

2002 ◽  
Author(s):  
Edward J. Park ◽  
James K. Mills
Keyword(s):  
Rigid Body ◽  
Dynamic Model ◽  
Time Scale ◽  
Normal Modes ◽  
Body Motion ◽  
Actuator Dynamics ◽  
Scale Modeling ◽  
Fixed Interface ◽  
The Given ◽  
System Order

This paper is Part I of a preliminary study to simultaneously control vibration and static shape deformation in flexible payloads. In Part I, the dynamics of a flexible payload grasped by an actuated gripper, which is attached to a rigid link robotic manipulator, is investigated using the component mode synthesis (CMS) method. Robot and actuator dynamics are also added to the system dynamic model to fully define the rigid body motion and elastic motion of the flexible payload. The CMS method is employed to explicitly model the coupling between the payload and actuators, and to reduce the system order. With the addition of fixed-interface quasi-static modes to fixed-interface vibration normal modes and actuator constraint modes an improved component mode representation is defined. Here, it is found that the inclusion of quasi-static modes in the CMS formulation results in increased ac curacy for simulation of dynamic behaviour of flexible payloads subject to both gravity and robot motion induced forces. Numerical examples are presented to demonstrate the effectiveness of the new component mode representation for the given robotics problem. In Part II [9], the two-time scale modeling (TSM) technique is used taking advantage of two-time scale behavior between the quasi-static modes and vibration modes in the dynamic model.

Large-scale Motion of Solar Filaments

2000 ◽  
Vol 179 ◽  
pp. 205-208
Author(s):  
Pavel Ambrož ◽  
Alfred Schroll
Keyword(s):  
Magnetic Flux ◽  
Proper Motion ◽  
Time Scale ◽  
Large Scale ◽  
Accuracy Of Measurements ◽  
Solar Filaments ◽  
General Movement ◽  
Scale Motion ◽  
Velocity Scatter

AbstractPrecise measurements of heliographic position of solar filaments were used for determination of the proper motion of solar filaments on the time-scale of days. The filaments have a tendency to make a shaking or waving of the external structure and to make a general movement of whole filament body, coinciding with the transport of the magnetic flux in the photosphere. The velocity scatter of individual measured points is about one order higher than the accuracy of measurements.

The E-ring: interactions with plasma and implications for its evolution

1984 ◽  
Vol 75 ◽  
pp. 599-602
Author(s):  
T.V. Johnson ◽  
G.E. Morfill ◽  
E. Grun
Keyword(s):  
Time Scale ◽  
Particle Density ◽  
High Energy ◽  
Particle Removal ◽  
Density Region ◽  
Drag Forces ◽  
Orbit Evolution ◽  
History Of ◽  
Ring Particle ◽  
Ring Material

A number of lines of evidence suggest that the particles making up the E-ring are small, on the order of a few microns or less in size (Terrile and Tokunaga, 1980, BAAS; Pang et al., 1982 Saturn meeting; Tucson, AZ). This suggests that a variety of electromagnetic and plasma affects may be important in considering the history of such particles. We have shown (Morfill et al., 1982, J. Geophys. Res., in press) that plasma drags forces from the corotating plasma will rapidly evolve E-ring particle orbits to increasing distance from Saturn until a point is reached where radiation drag forces acting to decrease orbital radius balance this outward acceleration. This occurs at approximately Rhea's orbit, although the exact value is subject to many uncertainties. The time scale for plasma drag to move particles from Enceladus' orbit to the outer E-ring is ~104yr. A variety of effects also act to remove particles, primarily sputtering by both high energy charged particles (Cheng et al., 1982, J. Geophys. Res., in press) and corotating plasma (Morfill et al., 1982). The time scale for sputtering away one micron particles is also short, 102 - 10 yrs. Thus the detailed particle density profile in the E-ring is set by a competition between orbit evolution and particle removal. The high density region near Enceladus' orbit may result from the sputtering yeild of corotating ions being less than unity at this radius (e.g. Eviatar et al., 1982, Saturn meeting). In any case, an active source of E-ring material is required if the feature is not very ephemeral - Enceladus itself, with its geologically recent surface, appears still to be the best candidate for the ultimate source of E-ring material.

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