A Benchmark Control Problem for Supercavitating Vehicles and an Initial Investigation of Solutions

2003 ◽  
Vol 9 (7) ◽  
pp. 791-804 ◽  
Author(s):  
John Dzielski ◽  
Andrew Kurdila
Keyword(s):  
High Speed ◽  
Linear Models ◽  
The Body ◽  
Control Surface ◽  
Force Model ◽  
Entire Body ◽  
Benchmark Problem ◽  
Supercavitating Vehicles ◽  
Forcing Function ◽  
Natural Cavitation

At very high speeds, underwater bodies develop cavitation bubbles at the trailing edges of sharp corners or from contours where adverse pressure gradients are sufficient to induce flow separation. Coupled with a properly designed cavitator at the nose of a vehicle, this natural cavitation can be augmented with gas to induce a cavity to cover nearly the entire body of the vehicle. The formation of the cavity results in a significant reduction in drag on the vehicle and these so-called high-speed supercavitating vehicles (HSSVs) naturally operate at speeds in excess of 75 m s-1. The first part of this paper presents a derivation of a benchmark problem for control of HSSVs. The benchmark problem focuses exclusively on the pitch-plane dynamics of the body which currently appear to present the most severe challenges. A vehicle model is parametrized in terms of generic parameters of body radius, body length, and body density relative to the surrounding fluid. The forebody shape is assumed to be a right cylindrical cone and the aft two-thirds is assumed to be cylindrical. This effectively parametrizes the inertia characteristics of the body. Assuming the cavitator is a flat plate, control surface lift curves are specified relative to the cavitator effectiveness. A force model for a planing afterbody is also presented. The resulting model is generally unstable whenever in contact with the cavity and stable otherwise, provided the fin effectiveness is large enough. If it is assumed that a cavity separation sensor is not available or that the entire weight of the body is not to be carried on control surfaces, limit cycle oscillations generally result. The weight of the body inevitably forces the vehicle into contact with the cavity and the unstable mode; the body effectively skips on the cavity wall. The general motion can be characterized by switching between two nominally linear models and an external constant forcing function. Because of the extremely short duration of the cavity contact, direct suppression of the oscillations and stable planing appear to present severe challenges to the actuator designer. These challenges are investigated in the second half of the paper, along with several approaches to the design of active control systems.

Kinematics and efficiency of steady swimming in adult axolotls (Ambystoma mexicanum)

1997 ◽  
Vol 200 (13) ◽  
pp. 1863-1871 ◽  
Author(s):  
K D'Août ◽  
P Aerts
Keyword(s):  
Swimming Speed ◽  
High Speed ◽  
Natural Habitat ◽  
Total Body Length ◽  
Ambystoma Mexicanum ◽  
The Body ◽  
Entire Body ◽  
Amplitude Profile ◽  
Wide Range ◽  
Tail Tip

The kinematics of steady swimming at a wide range of velocities was analysed using high-speed video recordings (500 frames s-1) of eight individuals of Ambystoma mexicanum swimming through a tunnel containing stationary water. Animals in the observed size range (0.135­0.238 m total body length) prefer to swim at similar absolute speeds, irrespective of their body size. The swimming mechanism is of the anguilliform type. The measured kinematic variables ­ the speed, length, frequency and amplitude (along the entire body) of the propulsive wave ­ are more similar to those of anguilliform swimming fish than to those of tadpoles, in spite of common morphological features with the latter, such as limbs, external gills and a tapering tail. The swimming speed for a given animal size correlates linearly with the tailbeat frequency (r2=0.71), whereas the wavelength and tail-tip amplitude do not correlate with this variable. The shape of the amplitude profile along the body, however, is very variable between the different swimming bouts, even at similar speeds. It is suggested that, for a given frequency, the amplitude profile along the body is adjusted in a variable way to yield the resulting swimming speed rather than maintaining a fixed-amplitude profile. The swimming efficiency was estimated by calculating two kinematic variables (the stride length and the propeller efficiency) and by applying two hydrodynamic theories, the elongated-body theory and an extension of this theory accounting for the slope at the tail tip. The latter theory was found to be the most appropriate for the axolotl's swimming mode and yields a hydromechanical efficiency of 0.75±0.04 (mean ± s.d.), indicating that Ambystoma mexicanum swims less efficiently than do anuran tadpoles and most fishes. This can be understood given its natural habitat in vegetation at the bottom of lakes, which would favour manoeuvrability and fast escape.

Nonlinear Robust Control Design for a Supercavitating Vehicle

2006 ◽  
Author(s):  
X. Mao ◽  
Q. Wang
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Control Design ◽  
High Gain ◽  
System Stability ◽  
Control Surface ◽  
Supercavitating Vehicles ◽  
Supercavitating Vehicle ◽  
Final Design ◽  
Robust Control Design

Supercavitating vehicles can achieve very high speed but also pose technical challenges in maneuvering, system stability and control. Compared to a fully-wetted vehicle for which substantial lift is generated due to vortex shedding off the hull, the supercavitating vehicles are enveloped by gas surface thus the lift is provided by control surface deflections of cavitator and fins, as well as planing force between the vehicle and the cavity. The nonlinearity in the modeling of cavitator, fin, and in particular, the planing force make the control design more challenging. In this paper, a sliding-mode based controller is designed for the longitudinal dynamics of a supercavitating vehicle model. The stability and robustness of the final design are analyzed by the Lyapunov method and verified using simulation. A high-gain observer is also designed to estimate the vertical velocity of the supercavitating vehicle, which is not directly measurable, and then simulation results are presented for the (partial) output-feedback sliding-mode controller.

Some Special Aspects of Hypersonic Flow Fields

1959 ◽  
Vol 63 (585) ◽  
pp. 508-512 ◽  
Author(s):  
K. W. Mangler
Keyword(s):  
Hypersonic Flow ◽  
High Speed ◽  
Flow Fields ◽  
The Body ◽  
Lower Velocity ◽  
Bow Wave ◽  
Total Head ◽  
Bow Shocks ◽  
Lower Entropy ◽  
Subsonic Region

When a body moves through air at very high speed at such a height that the air can be considered as a continuum, the distinction between sharp and blunt noses with their attached or detached bow shocks loses its significance, since, in practical cases, the bow wave is always detached and fairly strong. In practice, all bodies behave as blunt shapes with a smaller or larger subsonic region near the nose where the entropy and the corresponding loss of total head change from streamline to streamline due to the curvature of the bow shock. These entropy gradients determine the behaviour of the hypersonic flow fields to a large extent. Even in regions where viscosity effects are small they give rise to gradients of the velocity and shear layers with a lower velocity and a higher entropy near the surface than would occur in their absence. Thus one can expect to gain some relief in the heating problems arising on the surface of the body. On the other hand, one would lose farther downstream on long slender shapes as more and more air of lower entropy is entrained into the boundary layer so that the heat transfer to the surface goes up again. Both these flow regions will be discussed here for the simple case of a body of axial symmetry at zero incidence. Finally, some remarks on the flow field past a lifting body will be made. Recently, a great deal of information on these subjects has appeared in a number of reviewing papers so that little can be added. The numerical results on the subsonic flow regions in Section 2 have not been published before.

scholarly journals Wearable Vibration Sensor for Measuring the Wing Flapping of Insects

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 593
Author(s):  
Ryota Yanagisawa ◽  
Shunsuke Shigaki ◽  
Kotaro Yasui ◽  
Dai Owaki ◽  
Yasuhiro Sugimoto ◽  
...  
Keyword(s):  
High Speed ◽  
Environmental Changes ◽  
Underlying Mechanism ◽  
Indirect Measurement ◽  
Feedback Mechanism ◽  
The Body ◽  
Vibration Sensor ◽  
Wingbeat Frequency ◽  
Film Sensor ◽  
Insect Wing

In this study, we fabricated a novel wearable vibration sensor for insects and measured their wing flapping. An analysis of insect wing deformation in relation to changes in the environment plays an important role in understanding the underlying mechanism enabling insects to dynamically interact with their surrounding environment. It is common to use a high-speed camera to measure the wing flapping; however, it is difficult to analyze the feedback mechanism caused by the environmental changes caused by the flapping because this method applies an indirect measurement. Therefore, we propose the fabrication of a novel film sensor that is capable of measuring the changes in the wingbeat frequency of an insect. This novel sensor is composed of flat silver particles admixed with a silicone polymer, which changes the value of the resistor when a bending deformation occurs. As a result of attaching this sensor to the wings of a moth and a dragonfly and measuring the flapping of the wings, we were able to measure the frequency of the flapping with high accuracy. In addition, as a result of simultaneously measuring the relationship between the behavior of a moth during its search for an odor source and its wing flapping, it became clear that the frequency of the flapping changed depending on the frequency of the odor reception. From this result, a wearable film sensor for an insect that can measure the displacement of the body during a particular behavior was fabricated.

scholarly journals Computational Modeling of Vortex Generators for Turbomachinery

2002 ◽  
Author(s):  
R. V. Chima
Keyword(s):  
Computational Models ◽  
Body Force ◽  
Secondary Flows ◽  
The Body ◽  
Vortex Generators ◽  
Force Model ◽  
Suction Surface ◽  
Near Surface ◽  
Compressor Rotor ◽  
Surface Particle

In this work computational models were developed and used to investigate applications of vortex generators (VGs) to turbomachinery. The work was aimed at increasing the efficiency of compressor components designed for the NASA Ultra Efficient Engine Technology (UEET) program. Initial calculations were used to investigate the physical behavior of VGs. A parametric study of the effects of VG height was done using 3-D calculations of isolated VGs. A body force model was developed to simulate the effects of VGs without requiring complicated grids. The model was calibrated using 2-D calculations of the VG vanes and was validated using the 3-D results. Then three applications of VGs to a compressor rotor and stator were investigated: 1. The results of the 3-D calculations were used to simulate the use of small casing VGs used to generate rotor preswirl or counterswirl. Computed performance maps were used to evaluate the effects of VGs. 2. The body force model was used to simulate large partspan splitters on the casing ahead of the stator. Computed loss buckets showed the effects of the VGs. 3. The body force model was also used to investigate the use of tiny VGs on the stator suction surface for controlling secondary flows. Near-surface particle traces and exit loss profiles were used to evaluate the effects of the VGs.

Influence of Attached Masses on Impact Forces and Running Style in Heel-Toe Running

1987 ◽  
Vol 3 (3) ◽  
pp. 264-275 ◽  
Author(s):  
Alexander Bahlsen ◽  
Benno M. Nigg
Keyword(s):  
Body Mass ◽  
High Speed ◽  
Impact Force ◽  
Force Plate ◽  
The Body ◽  
Additional Mass ◽  
Impact Forces ◽  
Running Shoes ◽  
High Speed Film ◽  
Vertical Impact

Impact forces analysis in heel-toe running is often used to examine the reduction of impact forces for different running shoes and/or running techniques. Body mass is reported to be a dominant predictor of vertical impact force peaks. However, it is not evident whether this finding is only true for the real body mass or whether it is also true for additional masses attached to the body (e.g., running with additional weight or heavy shoes). The purpose of this study was to determine the effect of additional mass on vertical impact force peaks and running style. Nineteen subjects (9 males, 10 females) with a mean mass of 74.2 kg/56.2 kg (SD = 10.0 kg and 6.0 kg) volunteered to participate in this study. Additional masses were attached to the shoe (.05 and .1 kg), the tibia (.2, .4, .6 kg), and the hip (5.9 and 10.7 kg). Force plate measurements and high-speed film data were analyzed. In this study the vertical impact force peaks, Fzi, were not affected by additional masses, the vertical active force peaks, Fza, were only affected by additional masses greater than 6 kg, and the movement was only different in the knee angle at touchdown, ϵ0, for additional masses greater than .6 kg. The results of this study did not support findings reported earlier in the literature that body mass is a dominant predictor of external vertical impact force peaks.

scholarly journals Optimal nonlinear eddy viscosity in Galerkin models of turbulent flows

2015 ◽  
Vol 766 ◽  
pp. 337-367 ◽  
Author(s):  
Bartosz Protas ◽  
Bernd R. Noack ◽  
Jan Östh
Keyword(s):  
Turbulent Flows ◽  
High Speed ◽  
Eddy Viscosity ◽  
Broad Class ◽  
Constitutive Relations ◽  
Body Height ◽  
Mixing Layer ◽  
The Body ◽  
Stream Velocity ◽  
Initial Vorticity

AbstractWe propose a variational approach to the identification of an optimal nonlinear eddy viscosity as a subscale turbulence representation for proper orthogonal decomposition (POD) models. The ansatz for the eddy viscosity is given in terms of an arbitrary function of the resolved fluctuation energy. This function is found as a minimizer of a cost functional measuring the difference between the target data coming from a resolved direct or large-eddy simulation of the flow and its reconstruction based on the POD model. The optimization is performed with a data-assimilation approach generalizing the 4D-VAR method. POD models with optimal eddy viscosities are presented for a 2D incompressible mixing layer at $\mathit{Re}=500$ (based on the initial vorticity thickness and the velocity of the high-speed stream) and a 3D Ahmed body wake at $\mathit{Re}=300\,000$ (based on the body height and the free-stream velocity). The variational optimization formulation elucidates a number of interesting physical insights concerning the eddy-viscosity ansatz used. The 20-dimensional model of the mixing-layer reveals a negative eddy-viscosity regime at low fluctuation levels which improves the transient times towards the attractor. The 100-dimensional wake model yields more accurate energy distributions as compared to the nonlinear modal eddy-viscosity benchmark proposed recently by Östh et al. (J. Fluid Mech., vol. 747, 2014, pp. 518–544). Our methodology can be applied to construct quite arbitrary closure relations and, more generally, constitutive relations optimizing statistical properties of a broad class of reduced-order models.

Surface ultrastructure of juvenile and adult stages of Centrocestus armatus

1998 ◽  
Vol 72 (3) ◽  
pp. 215-219 ◽  
Author(s):  
Ho-Choon Woo ◽  
Myung-Deuk Seo ◽  
Sung-Jong Hong
Keyword(s):  
Oral Sucker ◽  
Body Surface ◽  
Dorsal Surface ◽  
High Density ◽  
The Body ◽  
Albino Rats ◽  
Entire Body ◽  
Type Ii ◽  
Posterior Half ◽  
Surface Ultrastructure

AbstractCentrocestus armatus (Trematoda: Heterophyidae) develops rapidly and produces eggs at 3 days postinfection in albino rats. Excysted metacercariae are pear-shaped and concave ventrally, with 42–44 peg-like circumoral spines. The entire body surface is densely covered with scale-like serrated spines. On juveniles, serration of the tegumental spines is greatest in the middle of the ventral and dorsal surfaces, and decreases anteriorly and posteriorly. Ciliated sensory papillae are concentrated around the oral sucker. Several nonciliated sensory papillae (type II papillae) occur equidistantly on the acetabulum and are arranged in a linear symmetry on the dorsal surface. On adults, the serration of the tegumental spines decreases to 14–17 tips on the ventrolateral surface. The high density of tegumental spines on posterior half of the body and the distribution of type II papillae on dorsal surface are considered to be characteristic of C. armatus.

scholarly journals A faster escape does not enhance survival in zebrafish larvae

2017 ◽  
Vol 284 (1852) ◽  
pp. 20170359 ◽  
Author(s):  
Arjun Nair ◽  
Christy Nguyen ◽  
Matthew J. McHenry
Keyword(s):  
High Speed ◽  
Larval Fish ◽  
Body Position ◽  
Three Dimensional ◽  
Limited Range ◽  
The Body ◽  
Model Parameters ◽  
Fish Prey ◽  
Zebrafish Larvae ◽  
Fish Predators

An escape response is a rapid manoeuvre used by prey to evade predators. Performing this manoeuvre at greater speed, in a favourable direction, or from a longer distance have been hypothesized to enhance the survival of prey, but these ideas are difficult to test experimentally. We examined how prey survival depends on escape kinematics through a novel combination of experimentation and mathematical modelling. This approach focused on zebrafish ( Danio rerio ) larvae under predation by adults and juveniles of the same species. High-speed three-dimensional kinematics were used to track the body position of prey and predator and to determine the probability of behavioural actions by both fish. These measurements provided the basis for an agent-based probabilistic model that simulated the trajectories of the animals. Predictions of survivorship by this model were found by Monte Carlo simulations to agree with our observations and we examined how these predictions varied by changing individual model parameters. Contrary to expectation, we found that survival may not be improved by increasing the speed or altering the direction of the escape. Rather, zebrafish larvae operate with sufficiently high locomotor performance due to the relatively slow approach and limited range of suction feeding by fish predators. We did find that survival was enhanced when prey responded from a greater distance. This is an ability that depends on the capacity of the visual and lateral line systems to detect a looming threat. Therefore, performance in sensing, and not locomotion, is decisive for improving the survival of larval fish prey. These results offer a framework for understanding the evolution of predator–prey strategy that may inform prey survival in a broad diversity of animals.

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