Tomographic PIV investigation of coherent structures in a turbulent boundary layer flow

Tomographic particle image velocimetry was used to quantitatively visualize the three-dimensional coherent structures in the logarithmic region of the turbulent boundary layer in a water tunnel.The Reynolds number based on momentum thickness is Reθ = 2 460.The instantaneous velocity fields give evidence of hairpin vortices aligned in the streamwise direction forming very long zones of low speed fluid,which is flanked on either side by highspeed ones.Statistical support for the existence of hairpins is given by conditional averaged eddy within an increasing spanwise width as the distance from the wall increases,and the main vortex characteristic in different wall-normal regions can be reflected by comparing the proportion of ejection and its contribution to Reynolds stress with that of sweep event.The pre-multiplied power spectra and two-point correlations indicate the presence of large-scale motions in the boundary layer,which are consistent with what have been termed very large scale motions(VLSMs).The three dimen-sional spatial correlations of three components of velocity further indicate that the elongated low-speed and highspeed regions will be accompanied by a counter-rotating roll modes,as the statistical imprint of hairpin packet structures,all of which together make up the characteristic of coherent structures in the logarithmic region of the turbulent boundary layer(TBL).     

Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters

This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback lineariza-tion, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization prob-lem of the model predictive controller significantly, which, however, is no longer linear in the presence of parame-ter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.     

An investigation into natural vibrations of fluid–structure interaction systems subject to Sommerfeld radiation condition

A fluid-structure interaction system subject to Sommerfeld＇s condition is defined as a Sommerfeld system which is divided into three categories： Fluid Sommerfeld （FS） System, Solid Sommerfeld （SS） System and Fluid Solid Sommerfeld （FSS） System of which Sommerfeld conditions are imposed on a fluid boundary only, a solid boundary only and both fluid and solid boundaries, respectively. This paper follows the previous initial results claimed by simple examples to further mathematically investigate the natural vibrations of generalized Sommerfeld systems. A new parameter representing the speed of radiation wave for generalized 3-D problems with more complicated boundary conditions is introduced into the Sommerfeld condition which allows investigation of the natural vibrations of a Sommerfeld system involving both free surface and compressible waves. The mathematical demonstrations and selected examples confirm and reveal the natural behaviour of generalized Sommerfeld systems defined above. These generalized conclusions can be used in theoretical or engineering analysis of the vibrations of various Sommerfeld systems in engineering.     

Viscous fluid damping in a laterally oscillating finger of a comb-drive micro-resonator based on micro-polar fluid theory

Viscous damping is a dominant source of energy dissipation in laterally oscillating micro-structures. In micro-resonators in which the characteristic dimensions are compa-rable to the dimensions of the fluid molecules, the assumption of the continuum fluid theory is no longer justified and the use of micro-polar fluid theory is indispensable. In this paper a mathematical model was presented in order to predict the viscous fluid damping in a laterally oscillating finger of a micro-resonator considering micro-polar fluid theory. The coupled governing partial differential equations of motion for the vibration of the finger and the micro-polar fluid field have been derived. Considering spin and no-spin boundary conditions, the related shape functions for the fluid field were presented. The obtained governing differential equations with time varying boundary conditions have been trans-formed to an enhanced form with homogenous boundary conditions and have been discretized using a Galerkin-based reduced order model. The effects of physical properties of the micro-polar fluid and geometrical parameters of the oscillat-ing structure on the damping ratio of the system have been investigated.     

Secondary steady-state and time-periodic flows from a basic flow with square array of odd number of vortices

In a magnetohydrodynamic(MHD) driven fluid cell, a plane non-parallel flow in a square domain satisfying a free-slip boundary condition is examined. The energy dissipation of the flow is controlled by the viscosity and linear friction. The latter arises from the influence of the Hartmann bottom boundary layer in a three-dimensional(3D)MHD experiment in a square bottomed cell. The basic flow in this fluid system is a square eddy flow exhibiting a network of N² vortices rotating alterna...     

The application of three-dimensional hydroelastic analysis of ship structures in Pekeris hydro-acoustic waveguide environment简

The hydroelastic analysis and sonoelastic analysis methods are incorporated with the Green＇s function of the Pekeris ocean hydro-acoustic waveguide model to produce a three-dimensional sonoelastic analysis method for ships in the ocean hydro-acoustic environment. The seabed condition is represented by a penetrable boundary of prescribed density and sound speed. This method is employed in this paper to predict the vibration and acoustic radiation of a 1 500 t Small Water Area Twin Hull （SWATH） ship in shallow sea acoustic environment. The wet resonant frequencies and radiation sound source levels are predicted and compared with the measured results of the ship in trial.     

Linear analysis of the dynamic response of a riser subject to internal solitary waves

The flow field induced by internal solitary waves(ISWs) is peculiar wherein water motion occurs in the whole water depth, and the strong shear near the pycnocline can be generated due to the opposite flow direction between the upper and lower layers,which is a potential threat to marine risers. In this paper, the flow field of ISWs is obtained with the Korteweg-de Vries(Kd V) equation for a two-layer fluid system. Then,a linear analysis is performed for the dynamic response of a riser with its t...     

Achievement of chaotic synchronization trajectories of master–slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.     

Symmetries of boundary layer equations of power-law fluids of second grade

A modified power-law fluid of second grade is considered. The model is a combination of power-law and second grade fluid in which the fluid may exhibit normal stresses, shear thinning or shear thickening behaviors. The equations of motion are derived for two dimensional incompressible flows, and from which the boundary layer equations are derived. Symmetries of the boundary layer equations are found by using Lie group theory, and then group classification with respect to power-law index is performed. By using one of the symmetries, namely the scaling symmetry, the partial differential system is transformed into an ordinary differential system, which is numerically integrated under the classical boundary layer conditions. Effects of power-law index and second grade coefficient on the boundary layers are shown and solutions are contrasted with the usual second grade fluid solutions.     

A TIME DOMAIN BOUNDARY ELEMENT METHOD FOR WATER-SOLID IMPACT ANALYSIS

A reciprocal theorem of dynamics for potential flow problems is first derived by meansof the Laplace transform in which the compressibility of water is taken into account.Based on this the-orem,the corresponding time-space boundary integral equation is obtained.Then,a set of time do-main boundary element equations with recurrence form is immediately formulated through discretiza-tion in both time and boundary.After having carried out the numerical calculation two solutions arefound in which a rigid semicircular cylinder and a rigid wedge with infinite length suffer normal impacton the surface of a half-space fluid.The results show that the present method is more efficient than theprevious ones.     

``槽道效应''在鱼群游动中的节能机制研究

为了揭示鱼群游动中的节能机制, 将自适应网格投影法和浸没边界法进行有机结合,研究了3条鱼组成的鱼群基本单位的自主游动. 为了使鱼群在游动过程中沿直线游动,利用仿生鱼的头部摆动进行了方向控制. 通过研究3条鱼组成的鱼群基本单位发现,当中间的鱼落后于前面2条鱼时, 能够以较低的摆频与前面2条鱼保持相同的速度前进, 即从前面2条鱼的尾涡中吸收了能量, 达到了节能的效果. 当中间的鱼落后大约0.4个身长时游动最省力, 其摆频仅为前面2条鱼的54%, ``槽道效应'的节能效果最明显.      

两关节压力驱动柔性仿生机器鱼的设计与仿真

为研究设计一种柔软度高、环境适应性强的新型仿生机器鱼, 模仿鲨鱼外形及鲔科鱼类的游动姿态, 设计了一种采用液压柔性驱动结构的仿生机器鱼. 针对单关节液压驱动柔性机器鱼存在其C型摆动姿态不符合鲔科鱼类摆动规律的问题, 采用两关节液压柔性驱动模拟鱼类S型摆动, 并根据液压柔性驱动器原理设计仿生鱼的内部结构. 依据理论波动方程确定机器鱼的摆动幅值, 借助数值模拟计算施加在柔性驱动器内部的压强载荷大小, 并分析计算液压柔性驱动器的驱动效率. 应用有限元分析软件模拟仿生鱼在流体中的自主游动过程, 并将两关节机器鱼与单关节机器鱼的自主巡游过程进行对比仿真, 获得两种机器鱼在流体中自主巡游时的运动姿态、游动速度及流场情况. 结果表明, 在相同的频率与尾鳍摆幅下, 两关节柔性机器鱼的巡游平均速度为0.29 BL/s (BL为鱼体体长), 高于单关节机器鱼巡游平均速度0.15 BL/s, 且由速度矢量图可得出两关节仿生鱼的S型摆动姿态更接近真实鱼类摆动规律, 并在运动过程中会产生一系列离散的反向卡门涡街, 推进效率高.      

并列仿生鱼自主游动的数值模拟研究

采用自适应浸没边界方法,数值模拟了两条并列仿生鱼在不同间距下的同相位和反相位自主游动。通过与相同游动参数下单条仿生鱼自主游动的比较,可以得到结论：（1）并列自主游动的速度小于单条鱼游动的速度,并且随着间距减小而减小。相同间距下,反相位并列游动时的速度大于同相位;（2）并列游动时的阻力均大于单条鱼,且随着间距减小而增大;（3）反相位游动时功率消耗随间距减小而增大,但同相位游动则相反;（4）当间距大于0.5个身长时,推进效率都略有增大。所以,在综合考虑了游动速度和推进效率两方面的因素后认为,鱼群中并列相邻的两条鱼应当以反相位摆动,且侧向间距保持在0.5个身长以上,这与自然界中观察的结果是一致的。     

PREDICTION OF MECHANICAL PROPERTIES OF FISH MUSCLE IN VIVO DURING STEADY SWIMMING

在综合游动力学的框架下采用整体模化分析方法,对比研究了鳗鲡鱼类和鲹科鱼类巡游中红肌（驱动鱼类巡游的骨骼肌）的力学性能异同. 该方法将观测总结的鱼体动态变形规律作为已知条件,首先确定鱼游中体外作用（包括流体动力响应和惯性力）,然后间接预测活体的体内作用（包括肌肉主动力和生物组织被动应力）. 研究结果显示,鳗鲡鱼类尾部的肌肉强度明显低于其躯干部分,而鲹科鱼类尾部和躯干部分肌肉强度相当,这与各自的体内作用主导机制相适应. 且体外作用的区别也导致了鲹科鱼类的能效更高. 同时发现,两种模式游动下都存在鱼体躯干内部从头至尾的能量传递,其肌肉输出净功沿鱼体轴向都呈“钟形” 分布. 总体上沿轴向各点的肌肉都输出正的净功.     

基于序列图像的鱼游运动机理分析

自上世纪60年代起,鱼游运动机理分析一直是研究的热点之一。本文提出了一种基于序列图像的鱼游运动机理分析方法,从图像处理的角度来分析鱼游运动机理问题。该方法首先通过图像差分得到鱼体的轮廓,然后利用能量函数自动抽取游动鱼体的体干曲线。在此基础上,通过样条曲线参数拟合进一步得到鱼体游动时体干曲线形变的准确数据和各种运动学参数。以黑鳍鲨稳态游动为例,本文还建立了鲹科模式游动的运动学参数模型并讨论了模型中参数对鱼体游动的影响。实验表明,相比于传统方法,本文所提出的方法无需对实验环境和对象加以限制,可以自动获得鱼类游动时的体干曲线形变的准确数据,从而据此建立更加真实有效的鱼游运动学参数模型。     

A control volume finite element method for three-dimensional three-phase flows

A novel control volume finite element method with adaptive anisotropic unstructured meshes is presented for three-dimensional three-phase flows with interfacial tension. The numerical framework consists of a mixed control volume and finite element formulation with a new P₁DG-P₂ elements (linear discontinuous velocity between elements and quadratic continuous pressure between elements). A “volume of fluid” type method is used for the interface capturing, which is based on compressive control volume advection and second-order finite element methods. A force-balanced continuum surface force model is employed for the interfacial tension on unstructured meshes. The interfacial tension coefficient decomposition method is also used to deal with interfacial tension pairings between different phases. Numerical examples of benchmark tests and the dynamics of three-dimensional three-phase rising bubble, and droplet impact are presented. The results are compared with the analytical solutions and previously published experimental data, demonstrating the capability of the present method.     

串列仿生鱼自主游动的数值模拟研究

采用自适应网格下的ghost-cell浸没边界方法,数值模拟了两条串列仿生鱼在相同摆频条件下的自主游动,并通过引入节能效率的概念分析了串列游动中的节能效果。通过与相同参数下单条仿生鱼自主游动的比较,发现串列仿生鱼的自主游动速度要大于单条鱼的速度。下游鱼的阻力会增加,但功耗会减少,表明下游鱼从上游鱼的尾涡中吸收了能量,达到了节能的效果。当水平间距较小时,下游鱼会对上游鱼产生一定的反推作用,从而使其阻力减小。结果还表明,高推进效率并不意味着高节能效率,从整体平均节能效果来看,反相位游动时节能效果比同相位时显著,平均节能效率达到22.4%。     

Simulation of forced deformable bodies interacting with two-dimensional incompressible flows: Application to fish-like swimming

We present an efficient algorithm for simulation of deformable bodies interacting with two-dimensional incompressible fluid flows. The temporal and spatial discretizations of the Navier–Stokes equations in vorticity stream-function formulation are based on classical fourth-order Runge–Kutta scheme and compact finite differences, respectively. Using a uniform Cartesian grid we benefit from the advantage of a new fourth-order direct solver for the Poisson equation to ensure the incompressibility constraint down to machine zero over an optimal grid. For introducing a deformable body in fluid flow, the volume penalization method is used. A Lagrangian structured grid with prescribed motion covers the deformable body which is interacting with the surrounding fluid due to the hydrodynamic forces and the torque calculated on the Eulerian reference grid. An efficient law for controlling the curvature of an anguilliform fish, swimming toward a prescribed goal, is proposed which is based on the geometrically exact theory of nonlinear beams and quaternions. Validation of the developed method shows the efficiency and expected accuracy of the algorithm for fish-like swimming and also for a variety of fluid/solid interaction problems.     

Fish and Plankton Interplay Determines Both Plankton Spatio-Temporal Pattern Formation and Fish School Walks: A Theoretical Study

The fascinating variety of spatio-temporal patterns in aquatic ecosystems and the understanding of the governing mechanisms of its generation and further dynamics requires ongoing experimental and theoretical studies. After introducing a certain hybrid mathematical model, this paper makes an attempt to demonstrate that the predation of a mobile planktivorous fish school on zooplankton can initiate both plankton pattern formation and fish school walks. Nonlinear interactions in the model of a fish-zooplankton-algae trophic chain prevent a simple intuitive understanding of the system dynamics. It is shown that the fish school predation and motion can give rise to plankton spiral waves. In the course of the spiral wave formation, the amplitudes of the spatially averaged plankton density oscillations are decreasing dramatically. Fish school walks are shown to resemble a fractional Brownian motions with a Hurst exponent depending on the fish predation rate.     

新月形尾鳍推进的流体力学分析

本文运用三维波动柔板位流模型与最佳游动方式理论,继续分析了新月形鱼尾的推进性能,从而实现了对鱼类三种主要推进模式的较为系统的研究。理论分析表明,高速海洋动物所具有的大展弦比、尖叶梢、中等后掠的新月形尾能获得接近于最佳的推进性能。对海豚游动特性的理论估算也给出了令人满意的结果。