Dynamics modeling and experiments of wave driven robot

Wave driven robots (WDRs) take ocean energies as the power sources and are often used for long-term monitoring of the marine environment. The unique multi-body joint structure and special operation mechanism of a WDR make the dynamics modeling problem unusual. The dynamic model of a WDR was put forward by taking the interconnection of forces and motions between the float body (float) and the submerged glider (glider) into account. Numerical simulation of longitudinal motion and the comparison between simulation and tank test of reciprocating steering motion of the "Ocean Rambler" WDR were carried out. The dynamic model proposed in this paper was consistent with the motion characteristics of "Ocean Rambler" WDR. Simulations of PID heading control demonstrated the unique control characteristics of the WDR, which proved the significance of the established dynamic model of the WDR in control algorithm design.     

Singular boundary method based on time‐dependent fundamental solutions for active noise control

Active noise control is an efficient strategy of noise control. A numerical wave shielding model to inhibit wave propagation, which can be considered as an extension of traditional active noise control, is established using the singular boundary method using time‐dependent fundamental solutions in this study. Two empirical formulas to evaluate the origin intensity factors with Dirichlet and Neumann boundary conditions are derived respectively. In comparison with other similar numerical methods, the method can obtain highly accurate results using very few boundary nodes and small CPU time. These meet the major technical requirements of simulation of active noise control. The subsequent numerical experiments show that the proposed model can shield efficiently from the wave propagation for both inner and exterior problems. By applying the newly derived empirical formulas, the CPU time of the singular boundary method is further reduced significantly, which makes the method a competitive new and efficient meshless method. In addition, the singular boundary method makes active noise control in an online manner via time‐dependent fundamental solutions as its basis functions.     

A mathematical model for the study of gliding motion of bacteria on a layer of non‐Newtonian slime

This paper is concerned with a mathematical hydrodynamical model of motility involving an undulating cell surface. The cell surface transmits stresses through a layer of exuded slime to the substratum. The slime is considered as a Johnson–Segalman fluid. A perturbation approach is used to find the analytic solution. Analytical expressions for the stream function, velocity, pressure gradient and pressure rise over a wavelength as well as the corresponding computational results are presented. The propulsive and lift forces and the power required for gliding propulsion have also been determined. The presented mechanism is found to generate a force for the propulsion of glider at a realistic speed and requires an output of power that is much less than the organism's metabolic rate of energy production. It is observed that unlike the Newtonian case of slime, the lift force is generated due to the Weissenberg number for non‐Newtonian slime, represented by the model of Johnson–Segalman fluid. It is also found that power required for translation in Johnson–Segalman fluid is reduced. Copyright © 2004 John Wiley & Sons, Ltd.     

Stokes waves with constant vorticity: I. Numerical computation

Periodic traveling waves are numerically computed in a constant vorticity flow subject to the force of gravity. The Stokes wave problem is formulated via a conformal mapping as a nonlinear pseudodifferential equation, involving a periodic Hilbert transform for a strip, and solved by the Newton‐GMRES method. For strong positive vorticity, in the finite or infinite depth, overhanging profiles are found as the amplitude increases and tend to a touching wave, whose surface contacts itself at the trough line, enclosing an air bubble; numerical solutions become unphysical as the amplitude increases further and make a gap in the wave speed versus amplitude plane; another touching wave takes over and physical solutions follow along the fold in the wave speed versus amplitude plane until they ultimately tend to an extreme wave, which exhibits a corner at the crest. Touching waves connected to zero amplitude are found to approach the limiting Crapper wave as the strength of positive vorticity increases unboundedly, while touching waves connected to the extreme waves approach the rigid body rotation of a fluid disk.     

Electromagnetic force on the wall of cylindrical waveguide

When transverse electric (TE) wave or transverse magnetic (TM) wave propagates inside a cylindrical waveguide, the electromagnetic force on the wall is investigated. The characteristics of surface charge, current, electric force, magnetic force and electromagnetic force are studied. The results show that the electric force is tension and magnetic force is press. The surface density of electromagnetic force on the wall can be calculated by the difference between magnetic and electric energy density there. For TE wave, the electromagnetic force distribution on the walls may be either tension or pressure in general. However, the electromagnetic force is always pressure for TM wave.     

Identification of source terms in wave equation with dynamic boundary conditions

This paper studies an inverse hyperbolic problem for the wave equation with dynamic boundary conditions. It consists of determining some forcing terms from the final overdetermination of the displacement. First, the Fréchet differentiability of the Tikhonov functional is studied, and a gradient formula is obtained via the solution of an associated adjoint problem. Then, the Lipschitz continuity of the gradient is proved. Furthermore, the existence and the uniqueness for the minimization problem are discussed. Finally, some numerical experiments for the reconstruction of an internal wave force are implemented via a conjugate gradient algorithm.     

变化底部对非线性表面波的影响

考虑表面张力的作用,研究了不可压缩、无粘性流体流过变化壁面时的共振流动,分析了不同的底部壁面变化对非线性表面波的影响．在导出非线性表面波遵循的fKdV方程后,利用拟谱方法进行数值模拟,用Matlab软件绘制瀑布图,由此得出结论:上凸底部上的波可以看成是向前凸台阶和向后凸台阶分别向前后散射发展的结果,二者不发生相互作用;下凹壁面的波形是向前凹台阶和向后凹台阶相互作用的结果;某些组合式底部的波形是上凸和下凹相互作用的结果．     

Recent progresses in studies on wave-current loads on foundation structure with piles and slab?

The foundation structure with piles and slab is widely used in o?shore wind farm construction in shallow water. Experimental studies on the hydrodynamic loads acting on the piles and slab under irregular waves and currents are summarized with discussion on the e?ects of pile grouping on the wave forces and wave impact loads on the slab locating near the free surface. By applying the theoretical solution of the wave di?racted by the slab and using the Morison equation to evaluate the wave force on the piles, the e?ects of the slab on the wave forces acting on the piles are analyzed. Based on the Reynolds-averaged Navier-Stokes (RANS) equations and the volume of ?uid (VOF) method, a numerical wave basin is developed to simulate the wave-structure interaction. The computed maximum wave force on the foundation structure with piles and slab agrees well with the measured data. The violent deformation, breaking, and run-up of the wave around the structure are presented and discussed. Further work on the turbulent ?ow structures and large deformation of the free surface due to interaction of the waves and foundation structures of o?shore wind farms needs more e?cient approaches for evaluating hydrodynamic loads under the e?ects of nonlinear waves and currents.     

Interaction of a Solitary Wave with an External Force Moving with Variable Speed

The interaction of a solitary wave with an external force moving with constant acceleration is studied within the forced Korteweg-de Vries equation. For the case of a weak isolated force an asymptotic model based on equations for the amplitude and position of the solitary wave is developed. Phase portraits for this asymptotic system are obtained analytically and numerically. Analysis has shown that an accelerated force of either sign can capture a solitary wave if the acceleration is less than a certain critical value, depending on the forcing amplitude (for the case of a constant force speed only a positive force can capture a solitary wave). Direct numerical simulation of the forced Korteweg-de Vries equation has confirmed the predictions of the asymptotic model. Also, it is shown numerically that the accelerated force can capture more than one solitary wave.     

Modeling of Electromechanical Contact on a Microscopic Lengthscale

This paper treats the simulation of the contact mode of an atomic force microscope (AFM). The contact forces between the tip and the sample surface is calculated via the van derWaals force in a Finite Element approach, the integration of the contact force a FEM environment is discussed and numerical examples are presented. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Finite element simulation of compressible particle-laden gas flows

A macroscopic two-fluid model of compressible particle-laden gas flows is considered. The governing equations are discretized by a high-resolution finite element method based on algebraic flux correction. A multidimensional limiter of TVD type is employed to constrain the local characteristic variables for the continuous gas phase and conservative fluxes for a suspension of solid particles. Special emphasis is laid on the efficient computation of steady state solutions at arbitrary Mach numbers. To avoid stability restrictions and convergence problems, the characteristic boundary conditions are imposed weakly and treated in a fully implicit manner. A two-way coupling via the interphase drag force is implemented using operator splitting. The Douglas-Rachford scheme is found to provide a robust treatment of the interphase exchange terms within the framework of a fractional-step solution strategy. Two-dimensional simulation results are presented for a moving shock wave and for a steady nozzle flow.     

Response surface methodology: A neural network approach

Response surface methodology is used to optimize the parameters of a process when the function that describes it is unknown. The procedure involves fitting a function to the given data and then using optimization techniques to obtain the optimal parameters. This procedure is usually difficult due to the fact that obtaining the right model may not be possible or at best very time consuming.In this paper, a two-stage procedure for obtaining the best parameters for a process with an unknown model is developed. The procedure is based on implementing response surface methodology via neural networks. Two neural networks are trained: one for the unknown function and the other for derivatives of this function which are computed using the first neural network. These neural networks are then used iteratively to compute parameters for an equation which is ultimately used for optimizing the function. Results of some simulation studies are also presented.     

The effectiveness of wave barriers on the dynamic stiffness coefficients of foundations using boundary element method

A comprehensive numerical investigation has been carried out to indicate the influence of wave barriers on the complex dynamic stiffness coefficients of the surface supported foundations under dynamic loads. In the considered problems the underground is regarded as an elastic homogeneous half-space and as a layer on the top of a rigid bedrock. The results of the present numerical simulation are obtained by using the substructure approach in the frequency domain which is formulated on basis of the boundary element method (BEM). The validations of the numerical results are shown through comparison with published numerical data. The results point out that using an open trench barrier with appropriate distance surrounding the vibration source, a notable reduction level can be achieved.     

A generalized dynamic model of nanoscale surface acoustic wave sensors and its applications in Love wave propagation and shear-horizontal vibration

A generalized dynamic model to depict the wave propagation properties in surface acoustic wave nano-devices is established based on the Hamilton's principle and variational approach. The surface effect, equivalent to additional thin films, is included with the aid of the surface elasticity, surface piezoelectricity and surface permittivity. It is demonstrated that this generalized dynamic model can be reduced into some classical cases, suitable for macro-scale and nano-scale, if some specific assumptions are utilized. In numerical simulations, Love wave propagation in a typical surface acoustic wave device composed of a piezoelectric ceramic transducer film and an aluminum substrate, as well as the shear-horizontal vibration of a piezoelectric plate, is investigated consequently to qualitatively and quantitatively analyze the surface effect. Correspondingly, a critical thickness that distinguishes surface effect from macro-mechanical behaviors is proposed, below which the size-dependent properties must be considered. Not limited as Love waves, the theoretical model will provide us a useful mathematical tool to analyze surface effect in nano-devices, which can be easily extended to other type of waves, such as Bleustein-Gulyaev waves and general Rayleigh waves.     

On the linearized theory op flow around bodies. Method of force sources

The method of force sources is proposed for solving linear problems related to the interaction between rigid bodies, and fluids, or gases. Method is based on the introduction of perturbation force sources into equation of motion of fluid media. Boundary conditions at the rigid body surface make it possible to reduce the problem of hydrodynamic reactions to an integral equation defining the function of force sources. Method is illustrated by the solution of three simple problems in the field of acoustics, and of viscous, and compressible media flow around bodies.

In the linearized theory of flow around rigid bodies, as well as in acoustics, an important part of the sound wave generation analysis concerns the determination of hydrodynamic reactions of the medium on moving, pulsating, or oscillating bodies. Such reactions make themselves felt as constant, or variable mechanical forces, such as drag and lift, or in the case of sound wave emitters, as the wave resistance. Various methods had been proposed for the computation of such forces, as for example, in the monographs [1 to 6].

Here, a different approach to the problem of determination of surface forces exerted by liquids and gases on the rigid body is proposed. By resorting to the formalism of the generalized functions it is possible to introduce into the equations of motion of fluid media a perturbation source in the form volume density of forces exercised by the body on the gas. The distribution of surface tension entering into the expression of this force is selected in such a manner as to satisfy boundary conditions at the body surface. It becomes possible with the use of this device to reduce the problem of determination of forces acting on the body surface to the solution of certain Integral equations. The proposed method is in all respects completely analogous to the well-known method of sources and sinks [1 to 1]. Both methods reduce the problem of interaction between body and gas to the solution of Integral equations. The method of sources and sinks, however, leads to an integral equation which describes the distribution of fictitious sources and sinks in the volume of the body having the density of the medium, while the method of force sources yields an integral equation which directly defines the distribution of mechanical forces over the surface of the body (*).

We may note that the method of force sources had to a certain extent been already used in papers [6 and 7] for the determination of sound radiation by means of point-force sources.     

Optimal feedback control for dynamic systems with state constraints: An exact penalty approach

In this paper, we consider a class of nonlinear dynamic systems with terminal state and continuous inequality constraints. Our aim is to design an optimal feedback controller that minimizes total system cost and ensures satisfaction of all constraints. We first formulate this problem as a semi-infinite optimization problem. We then show that by using a new exact penalty approach, this semi-infinite optimization problem can be converted into a sequence of nonlinear programming problems, each of which can be solved using standard gradient-based optimization methods. We conclude the paper by discussing applications of our work to glider control.     

The diffraction of plane gravitational waves by the edge of an ice cover

The diffraction of plane surface gravitational waves by the edge of an ice cover lying on the surface of an incompressible fluid of infinitely great depth is considered. The ice cover is simulated by a thin elastic plate. The wave reflection and transmission coefficients are determined when it interacts with the ice cover. A wave field is constructed in the fluid under the conditions that a periodic lumped force and a lumped moment act on the edge of the ice cover. It is shown that as the incident wavelength increases the reflection coefficient tends to zero and the transmission coefficient tends to unity.     

Modelling of metal forging using SPH

In solid metal forming processes, such as forging, large distortions in the material present challenging problems for numerical simulation using grid based methods. Computations invariably fail after some level of mesh distortion is reached unless suitable re-meshing is implemented to cope with the mesh distortion arising from the material deformation. The issue of mesh distortion and the subsequent re-meshing are topics of much research for grid based methods. These problems can be overcome by using a mesh-less numerical framework. In this paper, the application of a mesh-less method called Smoothed Particle Hydrodynamics (SPH) for modelling three-dimensional complex forging processes is demonstrated. It is shown that SPH is a useful simulation method for obtaining insights into the material deformation and flow pattern during forging of realistic industrial components. The effect of process parameters and material properties on the quality of the forged component is evaluated via SPH simulations. This includes the determination of forging force required for adequate die filling which is an important criterion for die designs. Material hardening, controlled by the degree of heat treatment, is found to have a profound effect on the material deformation pattern and the final product. Forging defects such as incomplete die filling, asymmetry in forged components, flashing and lap formation are shown to be predicted by SPH. SPH can thus potentially be used both for assessment of the quality of forged products and evaluation of prototype forging system designs.     

Dynamics of Phase Transitions in a Piecewise Linear Diatomic Chain

We consider a diatomic chain with nearest neighbors connected by phase-transforming springs. Assuming a piecewise linear interaction force, we use the Fourier transform to construct exact traveling wave solutions representing a moving phase-transition front and examine their stability through numerical experiments. We find that the identified traveling wave solutions may be stable in some velocity intervals. We show that the kinetic relation between the driving force on the phase boundary and its velocity is significantly affected by the ratio of the two masses. When the ratio is small enough, the relation may become multivalued at some velocities, with the two solutions corresponding to the different orders in which the two springs in a dimer cell change phase. The model bears additional interesting waveforms such as the so-called twinkling phase, which is also briefly discussed and compared to its monatomic analog.