scholarly journals THE RESEARCH OF STEADY-STATE MODES CHARACTERISTICS, AND DYNAMICS OF TETHERED SYSTEM OF THE AUTONOMOUS UNDERWATER ROBOT WITH TOWED SURFACE RADIOCOMMUNICATION MODULE

2020 ◽  
Author(s):  
В.В. Костенко ◽  
И.Г. Мокеева
Keyword(s):  
Steady State ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Kinematic Model ◽  
Movement Speed ◽  
Hydrodynamic Resistance ◽  
Underwater Robot ◽  
Motion Modeling ◽  
Thrust Characteristics ◽  
Motion Characteristics

Использование буксируемого поверхностного модуля радиосвязи (ПМР) позволяет организовать высокоскоростной канал связи поста управления с автономным подводным роботом (АПР), а также значительно упростить его навигационное обеспечение. При этом возмущения от кабеля связи, действующие на АПР и ПМР, будут в значительной степени влиять на характеристики движения такой привязной системы. В работе методами компьютерного моделирования исследуются силовые воздействия кабеля связи на буксировке, а также их влияние на движение аппарата в установившихся режимах и по типовым траекториям маневрирования. Для установившихся значений глубины погружения и скорости хода АПР определена длина кабеля связи, обеспечивающая минимальное силовое воздействие от буксировки на аппарат. Предложена комплексная модель системы управления движением подводной привязной системы, учитывающая динамику АПР и кабеля связи. Разработана кинематическая модель поведения ПМР, определяющая его заглубление и гидродинамическое сопротивление при буксировке. Приведены результаты моделирования движения привязной системы по типовым траекториям, характерным для обзорно-поисковых АПР, которые позволяют оценить дополнительные требования к тяговым характеристикам движительно-рулевого комплекса аппарата, а также к необходимому запасу плавучести ПМР. Utilization of the towed surface radiocommunication module (SRM) allows organizing a high-speed communication channel between the control station and autonomous underwater robot/autonomous underwater vehicle (AUR/AUV), as well as significantly simplify its navigation guidance support. Herewith, the disturbances from communication cable effects on AUV and SRM, and heavily influences the motion characteristics of such a tethered system. This paper studies force actions of communication wire on towage and its influence on vehicle motion along standard maneuvering trajectories in steady-state modes using computer modeling. The length of communication cable providing minimal force actions on the vehicle from towing was determined for steady values of submersion depth and movement speed of the AUV. The integrated model of the motion control system of the underwater tethered system was proposed taking into account the dynamic of AUV and communication cable. The kinematic model of SRM behavior was designed to determine its submersion depths and hydrodynamic resistance while being towed. Acquired and demonstrated results of the tethered system motion modeling along standard trajectories typical for search operations allow estimating additional requirements for thrust characteristics of the propulsion/steering unit of the vehicle, as well as the necessary buoyance reserve of the SRM.

scholarly journals Observation and analysis of diving beetle movements while swimming

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Debo Qi ◽  
Chengchun Zhang ◽  
Jingwei He ◽  
Yongli Yue ◽  
Jing Wang ◽  
...  
Keyword(s):  
Swimming Speed ◽  
High Speed ◽  
Kinematic Model ◽  
Movement Pattern ◽  
Unmanned Vehicles ◽  
Power Stroke ◽  
Cross Sectional ◽  
Motion Data ◽  
The Cross ◽  
Diving Beetle

AbstractThe fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

Analysis of Transient Two-Phase Flow in Pressure Safety Valve Outlet Headers

2018 ◽  
Author(s):  
Maral Taghva ◽  
Lars Damkilde
Keyword(s):  
Steady State ◽  
Shock Waves ◽  
High Speed ◽  
Two Phase Flow ◽  
Safety Valve ◽  
Strong Shock ◽  
Flow Property ◽  
Phase Flow ◽  
Transient Pressure ◽  
Two Phase

To protect a pressurized system from overpressure, one of the most established strategies is to install a Pressure Safety Valve (PSV). Therefore, the excess pressure of the system is relieved through a vent pipe when PSV opens. The vent pipe is also called “PSV Outlet Header”. After the process starts, a transient two-phase flow is formed inside the outlet header consisting of high speed pressurized gas interacting with existing static air. The high-speed jet compresses the static air towards the end tail of the pipe until it is discharged to the ambiance and eventually, the steady state is achieved. Here, this transient process is investigated both analytically and numerically using the method of characteristics. Riemann’s solvers and Godunov’s method are utilized to establish the solution. Propagation of shock waves and flow property alterations are clearly demonstrated throughout the simulations. The results show strong shock waves as well as high transient pressure take place inside the outlet header. This is particularly important since it indicates the significance of accounting for shock waves and transient pressure, in contrast to commonly accepted steady state calculations. More precisely, shock waves and transient pressure could lead to failure, if the pipe thickness is chosen only based on conventional steady state calculations.

scholarly journals Test Results of a Polymer Radiator of MTZ-80 Tractor Cooling System

2020 ◽  
Vol 14 (1) ◽  
pp. 55-60
Author(s):  
O. N. Didmanidze ◽  
R. T. Khakimov ◽  
E. P. Parlyuk ◽  
N. A. Bol’shakov
Keyword(s):  
Heat Transfer ◽  
Steady State ◽  
Cooling System ◽  
Operating Mode ◽  
Aerodynamic Characteristics ◽  
Operating Conditions ◽  
Hydrodynamic Resistance ◽  
Measuring Instruments ◽  
Research Areas ◽  
In Series

Global car manufacturers wish to increase the number of manufactured products, reduce their cost and labor input. The choice of research areas, design and technological developments in radiator construction is an extremely important and urgent task, due to the mass production of radiators for tractors and automobiles on the one hand, and the favorable development prospects of these interrelated industries, on the other. (Research purpose) To substantiate theoretically and experimentally the use of a combined cooling system containing both aluminum and polymeric water radiators and similarly liquid-oil heat exchangers based on the four principles listed above on automobiles and tractors. (Materials and methods) The authors performed bench tests using a special wind tunnel to study the thermal and aerodynamic characteristics of a prototype tractor radiator with a polyurethane core. After reaching the steady-state operating mode of the installation, the experimental values were determined for the control and measuring instruments. (Results and discussion) The authors carried out measurements of all parameters of both coolants in series at each steady-state operating mode of the bench. They obtained the main indicators dependences (reduced heat transfer, aerodynamic and hydraulic drag) of the heat exchanger, close to the operating conditions of the vehicles. (Conclusions) A prototype MTZ-80 radiator with a polyurethane core has great prospects as a future alternative radiator. An increase by 10-15 percent in the radiator heat transfer is possible by using aluminum fi ns on the surface of the polyurethane plate. A 15-20 percent reduction in hydrodynamic resistance is achieved by increasing the diameter of the capillary throughput in a polyurethane plate and the number of plates themselves in the radiator cell.

scholarly journals Prescribed Performance Active Braking Control with Reference Adaptation for High-Speed Trains

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 313
Author(s):  
Rui Zhang ◽  
Jun Peng ◽  
Bin Chen ◽  
Kai Gao ◽  
Yingze Yang ◽  
...  
Keyword(s):  
Steady State ◽  
Feedback Linearization ◽  
High Speed ◽  
Adhesion Force ◽  
Unscented Kalman Filter ◽  
Nonlinear Function ◽  
Slip Ratio ◽  
Prescribed Performance ◽  
High Speed Trains ◽  
Braking Control

Active braking control systems are vital for the safety of high-speed trains by leading the train operation at its maximum adhesion state. The train adhesion is a nonlinear function of the slip ratio and varies with the uncertain wheel-rail contact conditions. A nonlinear active braking control with rapid and accurate tracking performance is highly required for train braking systems. This paper proposes a novel prescribed performance active braking control with reference adaptation to obtain the maximum adhesion force. The developed feedback linearization controller employs a prescribed performance function that specifies the convergence rate, steady-state error, and maximum overshoot to ensure the transient and steady-state control performance. Furthermore, in the designed control approach, a continuous-time unscented Kalman filter is introduced to estimate the uncertainty of wheel-rail adhesion. The estimation is utilized to represent uncertainty and compensate for the prescribed performance control law. Finally, based on the estimated wheel-rail adhesion, an on-line optimal slip ratio generation algorithm is proposed for the adaptation of the reference wheel slip. The stability of the system is provided, and experiment results validate the effectiveness of the proposed method.

ASSESSMENT OF MULTALL AS CFD CODE FOR THE ANALYSIS OF TUBE-AXIAL FANS

2021 ◽  
pp. 1-12
Author(s):  
Piero Danieli ◽  
Massimo Masi ◽  
Giovanni Delibra ◽  
Alessandro Corsini ◽  
Andrea Lazzaretto
Keyword(s):  
Experimental Data ◽  
Steady State ◽  
Velocity Distribution ◽  
High Speed ◽  
State Of The Art ◽  
Stable Operation ◽  
Pressure Curve ◽  
Analysis Tool ◽  
Low Speed ◽  
Axial Fans

Abstract This work deals with the application of the open source CFD code MULTALL to the analysis of tube-axial-fans. The code has been widely validated in the literature for high-speed turbomachine flows but not applied yet to low speed tutbomachines. The aim of this work is to assess the degree of reliability of MULTALL as a tool for simulating the internal flow in industrial axial-flow fan rotors. To this end, the predictions of the steady-state air flow field in the annular sector of a 315 mm tube-axial fan obtained by MULTALL 18.3 are compared with those obtained by two state-of-the-art CFD codes and experimental data of the global aerodynamic performance of the fan and the pitch-wise averaged velocity distribution downstream of the rotor. All the steady-state RANS calculations were performed on either fully structured hexahedron or hexa-dominant grids using classical formulations of algebraic turbulence models. The pressure curve and the trend of the aeraulic efficiency in the stable operation range of the fan predicted by MULTALL show very good agreement with both the experimental data and the other CFD results. Although the estimation of the fan efficiency predicted by MULTALL can be noticeably improved by the more sophisticated state-of-the-art CFD codes, the analysis of the velocity distribution at the rotor exit supports the use of MULTALL as a reliable CFD analysis tool for designers of low-speed axial fans.

Integrated Optimal Design of Planar Mechanisms Using Fuzzy Theories

1989 ◽  
Author(s):  
A. K. Dhingra ◽  
S. S. Rao
Keyword(s):  
Nonlinear Programming ◽  
High Speed ◽  
Integrated Approach ◽  
Problem Formulation ◽  
Optimization Techniques ◽  
Motion Path ◽  
Programming Formulation ◽  
Planar Mechanisms ◽  
Dynamic Synthesis ◽  
Motion Characteristics

Abstract A new integrated approach to the design of high speed planar mechanisms is presented. The resulting nonlinear programming formulation combines both the kinematic and dynamic synthesis aspects of mechanism design. The multiobjective optimization techniques presented in this work facilitate the design of a linkage to meet several kinematic and dynamic design criteria. The method can be used for motion, path, and function generation problems. The nonlinear programming formulation also permits the imposition of constraints to eliminate solutions which possess undesirable kinematic and motion characteristics. To model the vague and imprecise information in the problem formulation, the tools of fuzzy set theory have been used. A method of solving the resulting fuzzy multiobjective problem using mathematical programming techniques is presented. The outlined procedure is expected to be useful in situations where doubt arises about the exactness of permissible values, degree of credibility, and correctness of statements and judgements.

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