scholarly journals Overcoming a stack of rough cylinders by a six-legged robot

2021 ◽  
pp. 1-28
Author(s):  
Yury Filippovich Golubev ◽  
Victor Vladimirovich Korianov

A method has been developed for overcoming obstacles in the form of a stack of rough cylinders of different radii by a six-legged robot. Two of the cylinders are lying on a horizontal plane and the third one is lying on the two mentioned above. The cylinders are under the influence of gravity, dry friction, and rolling friction. The equilibrium conditions of the system were found when the system is under the influence of a force due to the support of the robot on the system of cylinders. Using computer modeling tools, an algorithm for overcoming the stack that does not destroy the structure of the obstacle was developed. The results of numerical experiments and corresponding video materials are presented.

2019 ◽  
Vol 97 ◽  
pp. 05023 ◽  
Author(s):  
Daler Sharipov ◽  
Sharofiddin Aynakulov ◽  
Otabek Khafizov

The paper deals with the development of mathematical model and numerical algorithms for solving the problem of transfer and diffusion of aerosol emissions in the atmospheric boundary layer. The model takes into account several significant parameters such as terrain relief, characteristics of underlying surface and weather-climatic factors. A series of numerical experiments were conducted based on the given model. The obtained results presented here show how these factors affect aerosol emissions spread in the atmosphere.


1968 ◽  
Vol 10 (1) ◽  
pp. 1-12 ◽  
Author(s):  
H. F. Black

Where a rotor runs within a clearance space, the clearance being comparable with rotor mass unbalance, the synchronous whirling behaviour of the rotor may be considerably affected by intermittent interaction with the stator at the clearance position. Discontinuity and jump phenomena may occur: in general, behaviour will be different with increasing speed from that with decreasing speed, and in either case zones may exist in which rotor-stator interaction is possible but not certain. In the analysis here presented, rotor and stator are regarded as linear multi-degree-of-freedom systems including damping; dry friction at the clearance space is taken into account. Discussion is limited to cases with radial symmetry, and interaction is assumed limited to the position of the clearance space. Polar receptances are used to establish equilibrium conditions with interaction, and speed zones are defined within which interaction may occur. Some hypothetical cases are fully explored, demonstrating that rotor-stator interactions may occur in a variety of forms and circumstances. Interactions with dry friction counterwhirling are also considered. Some experimental results on counterwhirl within a ball bearing are given and qualitatively compared with theory.


2017 ◽  
Vol 41 (8) ◽  
pp. 485-492 ◽  
Author(s):  
Andrea R. Westervelt ◽  
Kristin M. Myers

2009 ◽  
Vol 131 (3) ◽  
Author(s):  
Renan Martins Baptista ◽  
Ricardo Antonio Francisco Machado ◽  
Marintho Bastos Quadri ◽  
Ariovaldo Bolzan ◽  
André Lourenço Nogueira ◽  
...  

The significant growth in offshore operations increases the risk of a pipeline rupture, even considering the high standards of safety involved. Throughout a submarine leakage, four different amounts of oil may be accounted. The first one is the oil volume released until the leakage detection. The second one is the volume leaked throughout mitigation initiatives (e.g., pump shutdown and valve closure). The third parcel is the amount released by gravitational flow. Finally, the fourth and last amount of oil is released due to the water-oil entrainment, generally known as advective migration. Normally, a considerable amount of oil is released in this step. It begins just after the internal pipeline pressure becomes equal to the external one. The present work continues to introduce a mathematical alternative approach, based on the theories of perturbation and unstable immiscible displacement, to accurately estimate the leakage kinetics and the amount of oil released by the advective migration phenomenon. Situations considering different hole sizes and thicknesses were tested experimentally and through simulations. Additional experiments were accomplished using smooth and rough edge surfaces, besides different slopes (using the horizontal plane as reference). Those experiments permitted a preliminary evaluation of the importance of these factors. The results obtained with the model showed good agreement with the experimental data in many situations considered.


2019 ◽  
Vol 27 (2) ◽  
pp. 67-82
Author(s):  
Miroslav Kureš

AbstractIn general, there exists an ellipse passing through the vertices of a convex pentagon, but any ellipse passing through the vertices of a convex hexagon does not have to exist. Thus, attention is turned to algebraic curves of the third degree, namely to the closed component of certain elliptic curves. This closed curve will be called the spekboom curve. Results of numerical experiments and some hypotheses regarding hexagons of special shape connected with the existence of this curve passing through the vertices are presented and suggested. Some properties of the spekboom curve are described, too.


Author(s):  
Greg W. Gmurczyk ◽  
Ashwani K. Gupta

Abstract Constant and significant progress in both computer hardware and numerical algorithms, in recent years, have made it possible to investigate complex phenomena in engineering systems using computer modeling and simulations. Advanced numerical simulations can be treated as an extension of traditional analytical-theoretical analyses. In such cases, some of the simplifying assumptions can usually be dropped and the nonlinear interactions between various processes can be captured. One of the most complex engineering processes encountered in industry is a combustion process utilized either for power/thrust generation or incineration. However, even nowadays, because of the high level of complexity of the general problem of a combustion process in practical systems, it is not currently possible to simulate directly all the length and time scales of interest. Simplifying assumptions still need to be made, but they can be less drastic than in analytical approaches. Therefore, another view of numerical simulations is as a tool to simulate idealized systems and conduct numerical experiments. Such numerical experiments can be complementary to laboratory experiments and can also provide more detailed, nonintrusive diagnostics. Therefore, simulations, along with theory and laboratory experiments, can provide a more complete picture and better understanding of a combustion process. As an example of computer modeling of industrial combustion systems, an enclosed spray flame was considered. Such a flame can frequently be encountered in power generation units, turbine engines, and incinerators. Both the physical and mathematical models were formulated based on data from earlier laboratory studies and results obtained for open air spray flames. The purpose of this study was to use those data as model input to predict the characteristics of a confined flame and provide a means of optimizing the system design with a PC computer.


2019 ◽  
Vol 54 (5) ◽  
pp. 632-637
Author(s):  
A. V. Karapetyan ◽  
A. Yu. Shamin

2017 ◽  
Vol 121 (18) ◽  
pp. 184502
Author(s):  
Francisco A. Rubinelli ◽  
Helena Ramirez ◽  
Carlos M. Ruiz ◽  
Javier A. Schmidt

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