Search results for: wheel diameter
587 The Design of Fire in Tube Boiler
Authors: Yoftahe Nigussie
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This report presents a final year project pertaining to the design of Fire tube boiler for the purpose of producing saturated steam. The objective of the project is to produce saturated steam for different purpose with a capacity of 2000kg/h at 12bar design pressure by performing a design of a higher performance fire tube boiler that considered the requirements of cost minimization and parameters improvement. This is mostly done in selection of appropriate material for component parts, construction materials and production methods in different steps of analysis. In the analysis process, most of the design parameters are obtained by iterating with related formulas like selection of diameter of tubes with overall heat transfer coefficient optimization, and the other selections are also as like considered. The number of passes is two because of the size and area of the tubes and shell. As the analysis express by using heavy oil fuel no6 with a higher heating value of 44000kJ/kg and lower heating value of 41300kJ/kg and the amount of fuel consumed 140.37kg/hr. and produce 1610kw of heat with efficiency of 85.25%. The flow of the fluid is a cross flow because of its own advantage and the arrangement of the tube in-side the shell is welded with the tube sheet, and the tube sheet is attached with the shell and the end by using a gasket and weld. The design of the shell, using European Standard code section, is as like pressure vessel by considering the weight, including content and the supplementary accessories such as lifting lugs, openings, ends, man hole and supports with detail and assembly drawing.Keywords: steam generation, external treatment, internal treatment, steam velocity
Procedia PDF Downloads 95586 Measurement of Solids Concentration in Hydrocyclone Using ERT: Validation Against CFD
Authors: Vakamalla Teja Reddy, Narasimha Mangadoddy
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Hydrocyclones are used to separate particles into different size fractions in the mineral processing, chemical and metallurgical industries. High speed video imaging, Laser Doppler Anemometry (LDA), X-ray and Gamma ray tomography are previously used to measure the two-phase flow characteristics in the cyclone. However, investigation of solids flow characteristics inside the cyclone is often impeded by the nature of the process due to slurry opaqueness and solid metal wall vessels. In this work, a dual-plane high speed Electrical resistance tomography (ERT) is used to measure hydrocyclone internal flow dynamics in situ. Experiments are carried out in 3 inch hydrocyclone for feed solid concentrations varying in the range of 0-50%. ERT data analysis through the optimized FEM mesh size and reconstruction algorithms on air-core and solid concentration tomograms is assessed. Results are presented in terms of the air-core diameter and solids volume fraction contours using Maxwell’s equation for various hydrocyclone operational parameters. It is confirmed by ERT that the air core occupied area and wall solids conductivity levels decreases with increasing the feed solids concentration. Algebraic slip mixture based multi-phase computational fluid dynamics (CFD) model is used to predict the air-core size and the solid concentrations in the hydrocyclone. Validation of air-core size and mean solid volume fractions by ERT measurements with the CFD simulations is attempted.Keywords: air-core, electrical resistance tomography, hydrocyclone, multi-phase CFD
Procedia PDF Downloads 378585 Observation of the Flow Behavior for a Rising Droplet in a Mini-Slot
Authors: H. Soltani, J. Hadfield, M. Redmond, D. S. Nobes
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The passage of oil droplets through a vertical mini-slot were investigated in this study. Oil-in-water emulsion can undergo coalescence of finer oil droplets forming droplets of a size that need to be considered individually. This occurs in a number of industrial processes and has important consequences at a scale where both body and surfaces forces are relevant. In the study, two droplet diameters of smaller than the slot width and a relatively larger diameter where the oil droplet can interact directly with the slot wall were generated. To monitor fluid motion, a particle shadow velocimetry (PSV) imaging technique was used to study fluid flow motion inside and around a single oil droplet rising in a net co-flow. The droplet was a transparent canola oil and the surrounding working fluid was glycerol, adjusted to allow a matching of refractive index between the two fluids. Particles seeded in both fluids were observed with the PSV system allowing the capture of the velocity field both within the droplet and in the surrounds. The effect of droplet size on the droplet internal circulation was observed. Part of the study was related the potential generation of flow structures, such as von Karman vortex shedding already observed in rising droplets in infinite reservoirs and their interaction with the mini-channel. Results show that two counter-rotating vortices exist inside the droplets as they pass through slot. The vorticity map analysis shows that the droplet of relatively larger size has a stronger internal circulation.Keywords: rising droplet, rectangular orifice, particle shadow velocimetry, match refractive index
Procedia PDF Downloads 169584 A Discrete Element Method Centrifuge Model of Monopile under Cyclic Lateral Loads
Authors: Nuo Duan, Yi Pik Cheng
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This paper presents the data of a series of two-dimensional Discrete Element Method (DEM) simulations of a large-diameter rigid monopile subjected to cyclic loading under a high gravitational force. At present, monopile foundations are widely used to support the tall and heavy wind turbines, which are also subjected to significant from wind and wave actions. A safe design must address issues such as rotations and changes in soil stiffness subject to these loadings conditions. Design guidance on the issue is limited, so are the availability of laboratory and field test data. The interpretation of these results in sand, such as the relation between loading and displacement, relies mainly on empirical correlations to pile properties. Regarding numerical models, most data from Finite Element Method (FEM) can be found. They are not comprehensive, and most of the FEM results are sensitive to input parameters. The micro scale behaviour could change the mechanism of the soil-structure interaction. A DEM model was used in this paper to study the cyclic lateral loads behaviour. A non-dimensional framework is presented and applied to interpret the simulation results. The DEM data compares well with various set of published experimental centrifuge model test data in terms of lateral deflection. The accumulated permanent pile lateral displacements induced by the cyclic lateral loads were found to be dependent on the characteristics of the applied cyclic load, such as the extent of the loading magnitudes and directions.Keywords: cyclic loading, DEM, numerical modelling, sands
Procedia PDF Downloads 319583 The Effect of Development of Two-Phase Flow Regimes on the Stability of Gas Lift Systems
Authors: Khalid. M. O. Elmabrok, M. L. Burby, G. G. Nasr
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Flow instability during gas lift operation is caused by three major phenomena – the density wave oscillation, the casing heading pressure and the flow perturbation within the two-phase flow region. This paper focuses on the causes and the effect of flow instability during gas lift operation and suggests ways to control it in order to maximise productivity during gas lift operations. A laboratory-scale two-phase flow system to study the effects of flow perturbation was designed and built. The apparatus is comprised of a 2 m long by 66 mm ID transparent PVC pipe with air injection point situated at 0.1 m above the base of the pipe. This is the point where stabilised bubbles were visibly clear after injection. Air is injected into the water filled transparent pipe at different flow rates and pressures. The behavior of the different sizes of the bubbles generated within the two-phase region was captured using a digital camera and the images were analysed using the advanced image processing package. It was observed that the average maximum bubbles sizes increased with the increase in the length of the vertical pipe column from 29.72 to 47 mm. The increase in air injection pressure from 0.5 to 3 bars increased the bubble sizes from 29.72 mm to 44.17 mm and then decreasing when the pressure reaches 4 bars. It was observed that at higher bubble velocity of 6.7 m/s, larger diameter bubbles coalesce and burst due to high agitation and collision with each other. This collapse of the bubbles causes pressure drop and reverse flow within two phase flow and is the main cause of the flow instability phenomena.Keywords: gas lift instability, bubbles forming, bubbles collapsing, image processing
Procedia PDF Downloads 419582 The Effect of Adding Microsilica on the Rheological Behavior and Injectability of the Paste in the Injection Molding of Silica-Based Ceramic Cores
Authors: Arghavan Kazemi, Hossein Radipour
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Microsilica (silica foam) is a byproduct of ferrosilicon production and silicon metal. Microsilica particles have a spherical shape, an average diameter of 0.15 µm, and a specific surface area of 15-25 m². g-¹. The overall density of this material is 150-700 kg.m-³. Many researchers have investigated the effect of adding microsilica on the flow properties of cement mixtures. This paper investigated the effect of adding microsilica on the flow behavior and injectability of silica-based paste. For this purpose, different percentages of microsilica have been used to prepare the paste. The rheometric test was performed on all the samples with different percentages of microsilica additives using an MCR300 rotary viscometer at a temperature of 70°C. In addition, the ability to inject pastes containing different amounts of microsilica at pressures of 25, 40, 50, and (bar) 60 at constant temperature and flow in a mold with dimensions of 80 × 80 × 0.5 mm³ has been investigated. Then, the effect of microsilica addition on the strength, porosity percentage, and leachability of the sintered core was studied. The results show that the rheological behavior of the paste is pseudoplastic; also, the silane index decreases with the increase in the percentage of microsilica addition, and the viscosity increases. On the other hand, the addition of microsilica has led to the appearance of thixotropic in the paste. By increasing the amount of microsilica, the injectability has significantly improved at low pressures. The strength of the sintered core increases with the increase of microsilica and the amount of remaining porosity and leachability decreases.Keywords: microsilica, rheological behavior, injectability, injection molding, silica-based ceramic cores, leachability
Procedia PDF Downloads 31581 Biogeography Based CO2 and Cost Optimization of RC Cantilever Retaining Walls
Authors: Ibrahim Aydogdu, Alper Akin
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In this study, the development of minimizing the cost and the CO2 emission of the RC retaining wall design has been performed by Biogeography Based Optimization (BBO) algorithm. This has been achieved by developing computer programs utilizing BBO algorithm which minimize the cost and the CO2 emission of the RC retaining walls. Objective functions of the optimization problem are defined as the minimized cost, the CO2 emission and weighted aggregate of the cost and the CO2 functions of the RC retaining walls. In the formulation of the optimum design problem, the height and thickness of the stem, the length of the toe projection, the thickness of the stem at base level, the length and thickness of the base, the depth and thickness of the key, the distance from the toe to the key, the number and diameter of the reinforcement bars are treated as design variables. In the formulation of the optimization problem, flexural and shear strength constraints and minimum/maximum limitations for the reinforcement bar areas are derived from American Concrete Institute (ACI 318-14) design code. Moreover, the development length conditions for suitable detailing of reinforcement are treated as a constraint. The obtained optimum designs must satisfy the factor of safety for failure modes (overturning, sliding and bearing), strength, serviceability and other required limitations to attain practically acceptable shapes. To demonstrate the efficiency and robustness of the presented BBO algorithm, the optimum design example for retaining walls is presented and the results are compared to the previously obtained results available in the literature.Keywords: bio geography, meta-heuristic search, optimization, retaining wall
Procedia PDF Downloads 396580 High Pressure Delignification Process for Nanocrystalline Cellulose Production from Agro-Waste Biomass
Authors: Sakinul Islam, Nhol Kao, Sati Bhattacharya, Rahul Gupta
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Nanocrystalline cellulose (NCC) has been widely used for miscellaneous applications due to its superior properties over other nanomaterials. However, the major problems associated with the production of NCC are long reaction time, low production rate and inefficient process. The mass production of NCC within a short period of time is still a great challenge. The main objective of this study is to produce NCC from rice husk agro waste biomass from a high pressure delignification process (HPDP), followed by bleaching and hydrolysis processes. The HPDP has not been explored for NCC production from rice husk biomass (RHB) until now. In order to produce NCC, powder rice husk (PRH) was placed into a stainless steel reactor at 80 ˚C under 5 bars. Aqueous solution of NaOH (4M) was used for the dissolution of lignin and other amorphous impurities from PRH. After certain experimental times (1h, 3.5h and 6h), bleaching and hydrolysis were carried out on delignified samples. NaOCl (20%) and H2SO4 (4M) solutions were used for bleaching and hydrolysis processes, respectively. The NCC suspension from hydrolysis was sonicated and neutralized by buffer solution for various characterisations. Finally NCC suspension was dried and analyzed by FTIR, XRD, SEM, AFM and TEM. The chemical composition of NCC and PRH was estimated by TAPPI (Technical Association of Pulp and Paper Industry) standard methods to observe the product purity. It was found that, the 6h of the HPDP was more efficient to produce good quality NCC than that at 1h and 3.5h due to low separation of non-cellulosic components from RHB. The analyses indicated the crystallinity of NCC to be 71 %, particle size of 20-50 nm (diameter) and 100-200 nm in length.Keywords: nanocrystalline cellulose, NCC, high pressure delignification, bleaching, hydrolysis, agro-waste biomass
Procedia PDF Downloads 263579 Implementation of Deep Neural Networks for Pavement Condition Index Prediction
Authors: M. Sirhan, S. Bekhor, A. Sidess
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In-service pavements deteriorate with time due to traffic wheel loads, environment, and climate conditions. Pavement deterioration leads to a reduction in their serviceability and structural behavior. Consequently, proper maintenance and rehabilitation (M&R) are necessary actions to keep the in-service pavement network at the desired level of serviceability. Due to resource and financial constraints, the pavement management system (PMS) prioritizes roads most in need of maintenance and rehabilitation action. It recommends a suitable action for each pavement based on the performance and surface condition of each road in the network. The pavement performance and condition are usually quantified and evaluated by different types of roughness-based and stress-based indices. Examples of such indices are Pavement Serviceability Index (PSI), Pavement Serviceability Ratio (PSR), Mean Panel Rating (MPR), Pavement Condition Rating (PCR), Ride Number (RN), Profile Index (PI), International Roughness Index (IRI), and Pavement Condition Index (PCI). PCI is commonly used in PMS as an indicator of the extent of the distresses on the pavement surface. PCI values range between 0 and 100; where 0 and 100 represent a highly deteriorated pavement and a newly constructed pavement, respectively. The PCI value is a function of distress type, severity, and density (measured as a percentage of the total pavement area). PCI is usually calculated iteratively using the 'Paver' program developed by the US Army Corps. The use of soft computing techniques, especially Artificial Neural Network (ANN), has become increasingly popular in the modeling of engineering problems. ANN techniques have successfully modeled the performance of the in-service pavements, due to its efficiency in predicting and solving non-linear relationships and dealing with an uncertain large amount of data. Typical regression models, which require a pre-defined relationship, can be replaced by ANN, which was found to be an appropriate tool for predicting the different pavement performance indices versus different factors as well. Subsequently, the objective of the presented study is to develop and train an ANN model that predicts the PCI values. The model’s input consists of percentage areas of 11 different damage types; alligator cracking, swelling, rutting, block cracking, longitudinal/transverse cracking, edge cracking, shoving, raveling, potholes, patching, and lane drop off, at three severity levels (low, medium, high) for each. The developed model was trained using 536,000 samples and tested on 134,000 samples. The samples were collected and prepared by The National Transport Infrastructure Company. The predicted results yielded satisfactory compliance with field measurements. The proposed model predicted PCI values with relatively low standard deviations, suggesting that it could be incorporated into the PMS for PCI determination. It is worth mentioning that the most influencing variables for PCI prediction are damages related to alligator cracking, swelling, rutting, and potholes.Keywords: artificial neural networks, computer programming, pavement condition index, pavement management, performance prediction
Procedia PDF Downloads 137578 Axial Load Capacity of Drilled Shafts from In-Situ Test Data at Semani Site, in Albania
Authors: Neritan Shkodrani, Klearta Rrushi, Anxhela Shaha
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Generally, the design of axial load capacity of deep foundations is based on the data provided from field tests, such as SPT (Standard Penetration Test) and CPT (Cone Penetration Test) tests. This paper reports the results of axial load capacity analysis of drilled shafts at a construction site at Semani, in Fier county, Fier prefecture in Albania. In this case, the axial load capacity analyses are based on the data of 416 SPT tests and 12 CPTU tests, which are carried out in this site construction using 12 boreholes (10 borings of a depth 30.0 m and 2 borings of a depth of 80.0m). The considered foundation widths range from 0.5m to 2.5 m and foundation embedment lengths is fixed at a value of 25m. SPT – based analytical methods from the Japanese practice of design (Building Standard Law of Japan) and CPT – based analytical Eslami and Fellenius methods are used for obtaining axial ultimate load capacity of drilled shafts. The considered drilled shaft (25m long and 0.5m - 2.5m in diameter) is analyzed for the soil conditions of each borehole. The values obtained from sets of calculations are shown in different charts. Then the reported axial load capacity values acquired from SPT and CPTU data are compared and some conclusions are found related to the mentioned methods of calculations.Keywords: deep foundations, drilled shafts, axial load capacity, ultimate load capacity, allowable load capacity, SPT test, CPTU test
Procedia PDF Downloads 103577 Estimation of Genetic Diversity in Sorghum Accessions Using Agro-Mophological and Nutritional Traits
Authors: Maletsema Alina Mofokeng, Nemera Shargie
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Sorghum is one of the most important cereal crops grown as a source of calories for many people in tropics and sub-tropics of the world. Proper characterisation and evaluation of crop germplasm is an important component for effective management of genetic resources and their utilisation in the improvement of the crop through plant breeding. The objective of the study was to estimate the genetic diversity present in sorghum accessions grown in South Africa using agro-morphological traits and some nutritional contents. The experiment was carried out in Potchefstroom. Data were subjected to correlations, principal components analysis, and hierarchical clustering using GenStat statistical software. There were highly significance differences among the accessions based on agro-morphological and nutritional quality traits. Grain yield was highly positively correlated with panicle weight. Plant height was highly significantly correlated with internode length, leaf length, leaf number, stem diameter, the number of nodes and starch content. The Principal component analysis revealed three most important PCs with a total variation of 78.6%. The protein content ranged from 7.7 to 14.7%, and starch ranged from 58.52 to 80.44%. The accessions that had high protein and starch content were AS16cyc and MP4277. There was vast genetic diversity observed among the accessions assessed that can be used by plant breeders to improve yield and nutritional traits.Keywords: accessions, genetic diversity, nutritional quality, sorghum
Procedia PDF Downloads 261576 Rapid and Efficient Removal of Lead from Water Using Chitosan/Magnetite Nanoparticles
Authors: Othman M. Hakami, Abdul Jabbar Al-Rajab
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Occurrence of heavy metals in water resources increased in the recent years albeit at low concentrations. Lead (PbII) is among the most important inorganic pollutants in ground and surface water. However, removal of this toxic metal efficiently from water is of public and scientific concern. In this study, we developed a rapid and efficient removal method of lead from water using chitosan/magnetite nanoparticles. A simple and effective process has been used to prepare chitosan/magnetite nanoparticles (NPs) (CS/Mag NPs) with effect on saturation magnetization value; the particles were strongly responsive to an external magnetic field making separation from solution possible in less than 2 minutes using a permanent magnet and the total Fe in solution was below the detection limit of ICP-OES (<0.19 mg L-1). The hydrodynamic particle size distribution increased from an average diameter of ~60 nm for Fe3O4 NPs to ~75 nm after chitosan coating. The feasibility of the prepared NPs for the adsorption and desorption of Pb(II) from water were evaluated using Chitosan/Magnetite NPs which showed a high removal efficiency for Pb(II) uptake, with 90% of Pb(II) removed during the first 5 minutes and equilibrium in less than 10 minutes. Maximum adsorption capacities for Pb(II) occurred at pH 6.0 and under room temperature were as high as 85.5 mg g-1, according to Langmuir isotherm model. Desorption of adsorbed Pb on CS/Mag NPs was evaluated using deionized water at different pH values ranged from 1 to 7 which was an effective eluent and did not result the destruction of NPs, then, they could subsequently be reused without any loss of their activity in further adsorption tests. Overall, our results showed the high efficiency of chitosan/magnetite nanoparticles (NPs) in lead removal from water in controlled conditions, and further studies should be realized in real field conditions.Keywords: chitosan, magnetite, water, treatment
Procedia PDF Downloads 401575 Microscopic Analysis of Bulk, High-TC Superconductors by Transmission Kikuchi Diffraction
Authors: Anjela Koblischka-Veneva, Michael Koblischka
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In this contribution, the transmission-Kikuchi diffrac-tion (TKD, or sometimes called t-EBSD) is applied to bulk, melt-grown YBa2Cu3O7 (YBCO) superconductors prepared by the MTMG (melt-textured melt-grown) technique and the infiltration (IG) growth technique. TEM slices required for the analysis were prepared by means of focused ion-beam (FIB) milling using mechanically polished sample surfaces, which enable a proper selection of the in-teresting regions for investigations. The required optical transparency was reached by an additional polishing step of the resulting surfaces using FIB-Ga-ion and Ar-ion milling. The improved spatial resolution of TKD enabled the investigation of the tiny Y2BaCuO5 (Y-211) particles having a diameter of about 50-100 nm embedded within the YBCO matrix and of other added secondary phase particles. With the TKD technique, the microstructural properties of the YBCO matrix are studied in detail. It is observed that the matrix shows effects of stress/strain, depending on the size and distribution of the embedded particles, which are important for providing additional flux pinning centers in such superconducting bulk samples. Using the Kernel average misorientation (KAM) maps, the strain induced in the superconducting matrix around the particles, which increases the flux pinning effectivity, can be clearly revealed. This type of analysis of the EBSD/TKD data is, therefore, also important for other material systems, where nanoparticles are embedded in a matrix.Keywords: electron backscatter Diffraction, transmission Kikuchi diffraction, SEM, YBCO, microstructure, nanoparticles
Procedia PDF Downloads 124574 An Effect of Organic Supplements on Stimulating Growth of Dendrobium Protocorms and Seedlings
Authors: Sunthari Tharapan, Chockpisit Thepsithar, Kullanart Obsuwan
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This study was aimed to investigate the effect of various organic supplements on growth and development of Dendrobium discolor’s protocorms and seedlings growth of Dendrobium Judy Rutz. Protocorms of Dendrobium discolor with 2.0 cm. in diameter and seedlings of Dendrobium Judy Rutz at the same size (0.5 cm. height) were sub-cultured on Hyponex medium supplemented with cow milk (CM), soy milk (SM), potato extract (PE) and peptone (P) for 2 months. The protocorms were developed to seedlings in all treatments after cultured for 2 months. However, the best results were found on Hyponex medium supplemented with P was the best in which the maximum fresh and dry weight and maximum shoot height were obtained in this treatment statistically different (p ≤ 0.05) to other treatments. Moreover, Hyponex medium supplemented with P also stimulated the maximum mean number of 5.7 shoots per explant which also showed statistically different (p ≤ 0.05) when compared to other treatments. The results of growth of Dendrobium Judy Rutz seedlings indicated the medium supplemented with 100 mL/L PE enhanced the maximum fresh and dry weigh per explants with significantly different (p ≤ 0.05) in fresh weight from other treatments including the control medium without any organic supplementation. However, the dry weight was not significantly different (p ≤ 0.05) from medium supplemented with SM and P. There was multiple shoots induction in all media with or without organic supplementation ranging from 2.6 to 3 shoots per explants. The maximum shoot height was also obtained in the seedlings cultured on medium supplemented with PE while the longest root length was found in medium supplemented with SM.Keywords: fresh weight, in vitro propagation, orchid, plant height
Procedia PDF Downloads 363573 Acoustic Modeling of a Data Center with a Hot Aisle Containment System
Authors: Arshad Alfoqaha, Seth Bard, Dustin Demetriou
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A new multi-physics acoustic modeling approach using ANSYS Mechanical FEA and FLUENT CFD methods is developed for modeling servers mounted to racks, such as IBM Z and IBM Power Systems, in data centers. This new approach allows users to determine the thermal and acoustic conditions that people are exposed to within the data center. The sound pressure level (SPL) exposure for a human working inside a hot aisle containment system inside the data center is studied. The SPL is analyzed at the noise source, at the human body, on the rack walls, on the containment walls, and on the ceiling and flooring plenum walls. In the acoustic CFD simulation, it is assumed that a four-inch diameter sphere with monopole acoustic radiation, placed in the middle of each rack, provides a single-source representation of all noise sources within the rack. Ffowcs Williams & Hawkings (FWH) acoustic model is employed. The target frequency is 1000 Hz, and the total simulation time for the transient analysis is 1.4 seconds, with a very small time step of 3e-5 seconds and 10 iterations to ensure convergence and accuracy. A User Defined Function (UDF) is developed to accurately simulate the acoustic noise source, and a Dynamic Mesh is applied to ensure acoustic wave propagation. Initial validation of the acoustic CFD simulation using a closed-form solution for the spherical propagation of an acoustic point source is performed.Keywords: data centers, FLUENT, acoustics, sound pressure level, SPL, hot aisle containment, IBM
Procedia PDF Downloads 172572 Use of Plant Growth Regulators in the Amaryllis Production (Hippeastrum X Hybridum Hort. CV Orange Souvereign)
Authors: Maximiliano K. Pagliarini, Ana Carolina T. Malavolta, Isabela M. Morita, Regina Maria M. Castilho
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Among the ornamental plants, the Amaryllis (Hippeastrum X hybridum Hort.) is one of the most cultivated plants in Brazil because of their large and showy flowers. Thus, the consumer market wants better quality plants or to flourish more in less time. One of the devices that can make such improvements or accelerate the flowering process is the use of growth regulators. The objective of this research was to evaluate the use of different Stimulate® growth regulator doses and its constituents separately in the development and flowering of Hippeastrum X hybridum Hort. Cv Orange Souvereign. The experiment was conducted in a Pad & Fan greenhouse at UNESP, São Paulo State, Brazil from August to October 2014. The bulbs were placed in black vases of 1.2 L filled with commercial substrate and divided into 9 treatments: T1 – 10 mL L-1 of Stimulate®, T2 – 5 mL L-1 of Stimulate®, T3 – 0.5 mg L-1 of gibberellic acid (GA), T4 – 0.25 mg L-1 of GA, T5 – 0.45 mg L-1 of kinetin, T6 – 0.9 mg L-1 of kinetin, T7 – 0.5 mg L-1 of indolbutiric acid (IBA), T8 – 0.25 mg L-1 of IBA and T9 – distilled water (control). All treatments were diluted in water. The used design was completely randomized with six repetitions and two vessels, totalling 12 vessels per treatment. The evaluated characteristics were: number of leaves, length of leaf, number of rods, maximum height of rods, maximum diameter of rods, maximum number of flowers, beginning of flowering, flowering duration, and weight of bulbs. The results showed that the Stimulate® was not efficient in the conducted experiment conditions. However, the best treatment was 0.5 mg L-1 of IBA.Keywords: bulbs, gibberellic acid, indolbutiric acid, kinetin, ornamental plants
Procedia PDF Downloads 551571 Numerical Modeling of Determination of in situ Rock Mass Deformation Modulus Using the Plate Load Test
Authors: A. Khodabakhshi, A. Mortazavi
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Accurate determination of rock mass deformation modulus, as an important design parameter, is one of the most controversial issues in most engineering projects. A 3D numerical model of standard plate load test (PLT) using the FLAC3D code was carried to investigate the mechanism governing the test process. Five objectives were the focus of this study. The first goal was to employ 3D modeling in the interpretation of PLT conducted at the Bazoft dam site, Iran. The second objective was to investigate the effect of displacements measuring depth from the loading plates on the calculated moduli. The magnitude of rock mass deformation modulus calculated from PLT depends on anchor depth, and in practice, this may be a cause of error in the selection of realistic deformation modulus for the rock mass. The third goal of the study was to investigate the effect of testing plate diameter on the calculated modulus. Moreover, a comparison of the calculated modulus from ISRM formula, numerical modeling and calculated modulus from the actual PLT carried out at right abutment of the Bazoft dam site was another objective of the study. Finally, the effect of plastic strains on the calculated moduli in each of the loading-unloading cycles for three loading plates was investigated. The geometry, material properties, and boundary conditions on the constructed 3D model were selected based on the in-situ conditions of PLT at Bazoft dam site. A good agreement was achieved between numerical model results and the field tests results.Keywords: deformation modulus, numerical model, plate loading test, rock mass
Procedia PDF Downloads 168570 Inflation and Deflation of Aircraft's Tire with Intelligent Tire Pressure Regulation System
Authors: Masoud Mirzaee, Ghobad Behzadi Pour
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An aircraft tire is designed to tolerate extremely heavy loads for a short duration. The number of tires increases with the weight of the aircraft, as it is needed to be distributed more evenly. Generally, aircraft tires work at high pressure, up to 200 psi (14 bar; 1,400 kPa) for airliners and higher for business jets. Tire assemblies for most aircraft categories provide a recommendation of compressed nitrogen that supports the aircraft’s weight on the ground, including a mechanism for controlling the aircraft during taxi, takeoff; landing; and traction for braking. Accurate tire pressure is a key factor that enables tire assemblies to perform reliably under high static and dynamic loads. Concerning ambient temperature change, considering the condition in which the temperature between the origin and destination airport was different, tire pressure should be adjusted and inflated to the specified operating pressure at the colder airport. This adjustment superseding the normal tire over an inflation limit of 5 percent at constant ambient temperature is required because the inflation pressure remains constant to support the load of a specified aircraft configuration. On the other hand, without this adjustment, a tire assembly would be significantly under/over-inflated at the destination. Due to an increase of human errors in the aviation industry, exorbitant costs are imposed on the airlines for providing consumable parts such as aircraft tires. The existence of an intelligent system to adjust the aircraft tire pressure based on weight, load, temperature, and weather conditions of origin and destination airports, could have a significant effect on reducing the aircraft maintenance costs, aircraft fuel and further improving the environmental issues related to the air pollution. An intelligent tire pressure regulation system (ITPRS) contains a processing computer, a nitrogen bottle with 1800 psi, and distribution lines. Nitrogen bottle’s inlet and outlet valves are installed in the main wheel landing gear’s area and are connected through nitrogen lines to main wheels and nose wheels assy. Controlling and monitoring of nitrogen will be performed by a computer, which is adjusted according to the calculations of received parameters, including the temperature of origin and destination airport, the weight of cargo loads and passengers, fuel quantity, and wind direction. Correct tire inflation and deflation are essential in assuring that tires can withstand the centrifugal forces and heat of normal operations, with an adequate margin of safety for unusual operating conditions such as rejected takeoff and hard landings. ITPRS will increase the performance of the aircraft in all phases of takeoff, landing, and taxi. Moreover, this system will reduce human errors, consumption materials, and stresses imposed on the aircraft body.Keywords: avionic system, improve efficiency, ITPRS, human error, reduced cost, tire pressure
Procedia PDF Downloads 247569 Phenological Variability among Stipagrostis ciliata Accessions Growing under Arid Bioclimate of Southern of Tunisia
Authors: Lobna Mnif Fakhfakh, Mohamed Chaieb
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Most ecological studies in North Africa arid bioclimate reveal a process of continuous degradation of pastoral ecosystems as a result of overgrazing during a long time. This degradation appears across the depletion of perennial grass species. Indeed, the majority of steppe ecosystems are characterized by a low density of perennial grasses. The objective of the present work is to examine the phenology and the above ground growth of several Stipagrostis ciliata accessions, growing under different arid bioclimate of North Africa (case of Tunisia). The results of the ANOVA test, next to the mean values of all measurements show significant differences in all morphological parameters of S. ciliata accessions. Plant diameter, biovolume, root biomass with protective sleeve and spike number show very significant. Differences between S. ciliata accessions. Significance tests for the differences of means indicate high distinctiveness of accessions. Pearson’s correlation analysis of the morphological traits suggests that these traits are significantly and positively correlated. Cluster analysis indicates overall differences among accessions and exhibits the presence of three clusters. The Principal component analysis (PCA) is applied on a table with four observations and 12 variables. Dispersion of Stipagrostis ciliata accessions on the first two axes of principal component analysis confirms the presence of three groups of plants. The characterization of Stipagrostis ciliata plants has shown that significant differences exist in terms of morphological and phenological parameters.Keywords: accession, morphology, phenology, Stipagrostis ciliata
Procedia PDF Downloads 253568 Rehabilitation of Orthotropic Steel Deck Bridges Using a Modified Ortho-Composite Deck System
Authors: Mozhdeh Shirinzadeh, Richard Stroetmann
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Orthotropic steel deck bridge consists of a deck plate, longitudinal stiffeners under the deck plate, cross beams and the main longitudinal girders. Due to the several advantages, Orthotropic Steel Deck (OSD) systems have been utilized in many bridges worldwide. The significant feature of this structural system is its high load-bearing capacity while having relatively low dead weight. In addition, cost efficiency and the ability of rapid field erection have made the orthotropic steel deck a popular type of bridge worldwide. However, OSD bridges are highly susceptible to fatigue damage. A large number of welded joints can be regarded as the main weakness of this system. This problem is, in particular, evident in the bridges which were built before 1994 when the fatigue design criteria had not been introduced in the bridge design codes. Recently, an Orthotropic-composite slab (OCS) for road bridges has been experimentally and numerically evaluated and developed at Technische Universität Dresden as a part of AIF-FOSTA research project P1265. The results of the project have provided a solid foundation for the design and analysis of Orthotropic-composite decks with dowel strips as a durable alternative to conventional steel or reinforced concrete decks. In continuation, while using the achievements of that project, the application of a modified Ortho-composite deck for an existing typical OSD bridge is investigated. Composite action is obtained by using rows of dowel strips in a clothoid (CL) shape. Regarding Eurocode criteria for different fatigue detail categories of an OSD bridge, the effect of the proposed modification approach is assessed. Moreover, a numerical parametric study is carried out utilizing finite element software to determine the impact of different variables, such as the size and arrangement of dowel strips, the application of transverse or longitudinal rows of dowel strips, and local wheel loads. For the verification of the simulation technique, experimental results of a segment of an OCS deck are used conducted in project P1265. Fatigue assessment is performed based on the last draft of Eurocode 1993-2 (2024) for the most probable detail categories (Hot-Spots) that have been reported in the previous statistical studies. Then, an analytical comparison is provided between the typical orthotropic steel deck and the modified Ortho-composite deck bridge in terms of fatigue issues and durability. The load-bearing capacity of the bridge, the critical deflections, and the composite behavior are also evaluated and compared. Results give a comprehensive overview of the efficiency of the rehabilitation method considering the required design service life of the bridge. Moreover, the proposed approach is assessed with regard to the construction method, details and practical aspects, as well as the economic point of view.Keywords: composite action, fatigue, finite element method, steel deck, bridge
Procedia PDF Downloads 81567 Atmospheric Dispersion Modeling for a Hypothetical Accidental Release from the 3 MW TRIGA Research Reactor of Bangladesh
Authors: G. R. Khan, Sadia Mahjabin, A. S. Mollah, M. R. Mawla
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Atmospheric dispersion modeling is significant for any nuclear facilities in the country to predict the impact of radiological doses on environment as well as human health. That is why to ensure safety of workers and population at plant site; Atmospheric dispersion modeling and radiation dose calculations were carried out for a hypothetical accidental release of airborne radionuclide from the 3 MW TRIGA research reactor of Savar, Bangladesh. It is designed with reactor core which consists of 100 fuel elements(1.82245 cm in diameter and 38.1 cm in length), arranged in an annular corefor steady-state and square wave power level of 3 MW (thermal) and for pulsing with maximum power level of 860MWth.The fuel is in the form of a uniform mixture of 20% uranium and 80% zirconium hydride. Total effective doses (TEDs) to the public at various downwind distances were evaluated with a health physics computer code “HotSpot” developed by Lawrence Livermore National Laboratory, USA. The doses were estimated at different Pasquill stability classes (categories A-F) with site-specific averaged meteorological conditions. The meteorological data, such as, average wind speed, frequency distribution of wind direction, etc. have also been analyzed based on the data collected near the reactor site. The results of effective doses obtained remain within the recommended maximum effective dose.Keywords: accidental release, dispersion modeling, total effective dose, TRIGA
Procedia PDF Downloads 136566 Large Eddy Simulations for Flow Blurring Twin-Fluid Atomization Concept Using Volume of Fluid Method
Authors: Raju Murugan, Pankaj S. Kolhe
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The present study is mainly focusing on the numerical simulation of Flow Blurring (FB) twin fluid injection concept was proposed by Ganan-Calvo, which involves back flow atomization based on global bifurcation of liquid and gas streams, thus creating two-phase flow near the injector exit. The interesting feature of FB injector spray is an insignificant effect of variation in atomizing air to liquid ratio (ALR) on a spray cone angle. Besides, FB injectors produce a nearly uniform spatial distribution of mean droplet diameter and are least susceptible to variation in thermo-physical properties of fuels, making it a perfect candidate for fuel flexible combustor development. The FB injector working principle has been realized through experimental flow visualization techniques only. The present study explores potential of ANSYS Fluent based Large Eddy Simulation(LES) with volume of fluid (VOF) method to investigate two-phase flow just upstream of injector dump plane and spray quality immediate downstream of injector dump plane. Note that, water and air represent liquid and gas phase in all simulations and ALR is varied by changing the air mass flow rate alone. Preliminary results capture two phase flow just upstream of injector dump plane and qualitative agreement is observed with the available experimental literature.Keywords: flow blurring twin fluid atomization, large eddy simulation, volume of fluid, air to liquid ratio
Procedia PDF Downloads 213565 Improving Indoor Air Quality by Increasing Bio-Based Negative Air Ion Release
Authors: Shuye Jiang, Ali Ma, Srinivasan Ramachandran
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Indoor air quality could be improved through traditional air purifiers. However, they may not be environmental products. Here, a bio-based method was employed to improve indoor air quality by increasing negative air ion (NAI) release from ornamental plants. A total of 60 plant species has been screened by evaluating their ability to release NAIs, from which four candidates were selected to further study. All of them are from the Dracaena or fabids clade. These four candidates were then subjected to survey their ability to reduce the concentration of particulate matter with diameter of 2.5 or 10 microns (PM2.5 and PM10) in the growth chamber. High concentrations of PM2.5 and PM10 were artificially generated by burning a stick of incense for 2 minutes in the closed growth chamber (80cm length × 80cm width × 80cm height), in which the PM2.5 and PM10 concentration were generally around 500 µg/m3 and 1500 µg/m3, respectively. Both PM2.5 and PM10 were naturally reduced to 410 and 670, respectively after two hours in case that no plants were placed inside the chamber. Interestingly, these two sizes of particulars were reduced to 170 µg/m3 and 210 µg/m3, respectively after two hours when plants were placed to the chamber. It took 4 hours for the plants to reduce particular concentration to acceptable level at less than 55 µg/m3 for both PM2.5 and PM10, respectively. However, the PM2.5 and PM10 concentration were still above 200 µg/m3 and 300 µg/m3, respectively after 4 hours in the growth chamber without any plants. These results suggest the contribution of plants to the particulate deposition. However, all of these data are preliminary and the results may be updated by further studies. In addition, the roles of plants in absorbing indoor formaldehyde have also been explored and their absorbing ability is being improved by optimizing their growth conditions and treating with various exogenous agents. Thus, our preliminary studies provide an alternative strategy to improve indoor air quality.Keywords: bio-based method, indoor air, negative air ion, particulate matter
Procedia PDF Downloads 165564 Condensation Heat Transfer and Pressure Drop of R-134a Flowing inside Dimpled Tubes
Authors: Kanit Aroonrat, Somchai Wongwises
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A heat exchanger is one of the vital parts in a wide variety of applications. The tube with surface modification is generally referred to as an enhanced tube. With this, the thermal performance of the heat exchanger is improved. A dimpled tube is one of many kinds of enhanced tube. The heat transfer and pressure drop of two-phase flow inside dimpled tubes have received little attention in the literature, despite of having an important role in the development of refrigeration and air conditioning systems. As a result, the main aim of this study is to investigate the condensation heat transfer and pressure drop of refrigerant-134a flowing inside dimpled tubes. The test section is a counter-flow double-tube heat exchanger, which the refrigerant flows in the inner tube and water flows in the annulus. The inner tubes are one smooth tube and three dimpled tubes with different helical pitches. All test tubes are made from copper with an inside diameter of 8.1 mm and length of 1500 mm. The experiments are conducted over mass fluxes ranging from 300 to 500 kg/m²s, heat flux ranging from 10 to 20 kW/m², and condensing temperature ranging from 40 to 50 ˚C. The results show that all dimpled tubes provide higher heat transfer coefficient and frictional pressure drop compared to the smooth tube. In addition, the heat transfer coefficient and frictional pressure drop increase with decreasing of helical pitch. It can be observed that the dimpled tube with lowest helical pitch yields the heat transfer enhancement in the range of 60-89% with the frictional pressure drop increase of 289-674% in comparison to the smooth tube.Keywords: condensation, dimpled tube, heat transfer, pressure drop
Procedia PDF Downloads 212563 Supersonic Combustion (Scramjet) Containing Flame-Holder with Slot Injection
Authors: Anupriya, Bikramjit Sinfh, Radhay Shyam
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In order to improve mixing phenomena and combustion processes in supersonic flow, the current work has concentrated on identifying the ideal cavity parameters using CFD ANSYS Fluent. Offset ratios (OR) and aft ramp angles () have been manipulated in simulations of several models, but the length-to-depth ratio has remained the same. The length-to-depth ratio of all cavity flows is less than 10, making them all open. Hydrogen fuel was injected into a supersonic air flow with a Mach number of 3.75 using a chamber with a 1 mm diameter and a transverse slot nozzle. The free stream had conditions of a pressure of 1.2 MPa, a temperature of 299K, and a Reynolds number of 2.07x107. This method has the ability to retain a flame since the cavity facilitates rapid mixing of fuel and oxidizer and decreases total pressure losses. The impact of the cavity on combustion efficiency and total pressure loss is discussed, and the results are compared to those of a model without a cavity. Both the mixing qualities and the combustion processes were enhanced in the model with the cavity. The overall pressure loss as well as the effectiveness of the combustion process both increase with the increase in the ramp angle to the rear. When OR is increased, however, resistance to the supersonic flow field is reduced, which has a detrimental effect on both parameters. For a given ramp height, larger pressure losses were observed at steeper ramp angles due to increased eddy-viscous turbulent flow and increased wall drag.Keywords: total pressure loss, flame holder, supersonic combustion, combustion efficiency, cavity, nozzle
Procedia PDF Downloads 91562 Effect of Particle Aspect Ratio and Shape Factor on Air Flow inside Pulmonary Region
Authors: Pratibha, Jyoti Kori
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Particles in industry, harvesting, coal mines, etc. may not necessarily be spherical in shape. In general, it is difficult to find perfectly spherical particle. The prediction of movement and deposition of non spherical particle in distinct airway generation is much more difficult as compared to spherical particles. Moreover, there is extensive inflexibility in deposition between ducts of a particular generation and inside every alveolar duct since particle concentrations can be much bigger than the mean acinar concentration. Consequently, a large number of particles fail to be exhaled during expiration. This study presents a mathematical model for the movement and deposition of those non-spherical particles by using particle aspect ratio and shape factor. We analyse the pulsatile behavior underneath sinusoidal wall oscillation due to periodic breathing condition through a non-Darcian porous medium or inside pulmonary region. Since the fluid is viscous and Newtonian, the generalized Navier-Stokes equation in two-dimensional coordinate system (r, z) is used with boundary-layer theory. Results are obtained for various values of Reynolds number, Womersley number, Forchsheimer number, particle aspect ratio and shape factor. Numerical computation is done by using finite difference scheme for very fine mesh in MATLAB. It is found that the overall air velocity is significantly increased by changes in aerodynamic diameter, aspect ratio, alveoli size, Reynolds number and the pulse rate; while velocity is decreased by increasing Forchheimer number.Keywords: deposition, interstitial lung diseases, non-Darcian medium, numerical simulation, shape factor
Procedia PDF Downloads 185561 The Effects of Time and Cyclic Loading to the Axial Capacity for Offshore Pile in Shallow Gas
Authors: Christian H. Girsang, M. Razi B. Mansoor, Noorizal N. Huang
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An offshore platform was installed in 1977 at about 260km offshore West Malaysia at the water depth of 73.6m. Twelve (12) piles were installed with four (4) are skirt piles. The piles have 1.219m outside diameter and wall thickness of 31mm and were driven to 109m below seabed. Deterministic analyses of the pile capacity under axial loading were conducted using the current API (American Petroleum Institute) method and the four (4) CPT-based methods: the ICP (Imperial College Pile)-method, the NGI (Norwegian Geotechnical Institute)-Method, the UWA (University of Western Australia)-method and the Fugro-method. A statistical analysis of the model uncertainty associated with each pile capacity method was performed. There were two (2) piles analysed: Pile 1 and piles other than Pile 1, where Pile 1 is the pile that was most affected by shallow gas problems. Using the mean estimate of soil properties, the five (5) methods used for deterministic estimation of axial pile capacity in compression predict an axial capacity from 28 to 42MN for Pile 1 and 32 to 49MN for piles other than Pile 1. These values refer to the static capacity shortly after pile installation. They do not include the effects of cyclic loading during the design storm or time after installation on the axial pile capacity. On average, the axial pile capacity is expected to have increased by about 40% because of ageing since the installation of the platform in 1977. On the other hand, the cyclic loading effects during the design storm may reduce the axial capacity of the piles by around 25%. The study concluded that all piles have sufficient safety factor when the pile aging and cyclic loading effect are considered, as all safety factors are above 2.0 for maximum operating and storm loads.Keywords: axial capacity, cyclic loading, pile ageing, shallow gas
Procedia PDF Downloads 342560 Growing Sorghum Varieties with Potential of Fodder and Biofuel Crops, with Potential of Two Harvest in One Year
Authors: Farah Jafarpisheh, John Hutson, Howard Fallowfield
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Growing Sorghum varieties, with the potential of the animal food source, by using the treated wastewater from High Rate Algae Ponds (HRAPs) is an attractive subject. For the first time, in South Australia, Sorghum Earthnote variety one (SE1) has been grown using the wastewater from HRAPs. In this study, after the first harvest, the roots left in the soil. After a short period of time, sorghum started to regrow again, which can increase the value of planting sorghum by using the wastewater. This study demonstrates the higher amount of green biomass with the potential of animal food source after the second harvest. Different parameters, including height(mm), number of leaves and tiller, Brix percentage, fresh and dry leaf weight(g), total top fresh weight(g), stem and seed dry and fresh weight(g) have been measured in the field after first and second harvest. The results demonstrated the higher height, number of tiller, and diameter after the second harvest. Number of leaves and leaves fresh weight and total top weight increased by 6 and 10 times, respectively. Brix percentage increased by 2 times. In the first harvest, no seeds harvested, while in the second harvest, 134 g seeds harvested. This sorghum variety (SE1) showed the acceptable green biomass, especially after the second harvest. This property will add to the value of sorghum in this condition, as it will not need extra fertilizer and labor work for seed planting.Keywords: energy, high rate algae ponds, HRAPs, Sorghum, waste water
Procedia PDF Downloads 113559 Simulation of Ammonia-Water Two Phase Flow in Bubble Pump
Authors: Jemai Rabeb, Benhmidene Ali, Hidouri Khaoula, Chaouachi Bechir
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The diffusion-absorption refrigeration cycle consists of a generator bubble pump, an absorber, an evaporator and a condenser, and usually operates with ammonia/water/ hydrogen or helium as the working fluid. The aim of this paper is to study the stability problem a bubble pump. In fact instability can caused a reduction of bubble pump efficiency. To achieve this goal, we have simulated the behaviour of two-phase flow in a bubble pump by using a drift flow model. Equations of a drift flow model are formulated in the transitional regime, non-adiabatic condition and thermodynamic equilibrium between the liquid and vapour phases. Equations resolution allowed to define void fraction, and liquid and vapour velocities, as well as pressure and mixing enthalpy. Ammonia-water mixing is used as working fluid, where ammonia mass fraction in the inlet is 0.6. Present simulation is conducted out for a heating flux of 2 kW/m² to 5 kW/m² and bubble pump tube length of 1 m and 2.5 mm of inner diameter. Simulation results reveal oscillations of vapour and liquid velocities along time. Oscillations decrease with time and with heat flux. For sufficient time the steady state is established, it is characterised by constant liquid velocity and void fraction values. However, vapour velocity does not have the same behaviour, it increases for steady state too. On the other hand, pressure drop oscillations are studied.Keywords: bubble pump, drift flow model, instability, simulation
Procedia PDF Downloads 260558 Row Detection and Graph-Based Localization in Tree Nurseries Using a 3D LiDAR
Authors: Ionut Vintu, Stefan Laible, Ruth Schulz
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Agricultural robotics has been developing steadily over recent years, with the goal of reducing and even eliminating pesticides used in crops and to increase productivity by taking over human labor. The majority of crops are arranged in rows. The first step towards autonomous robots, capable of driving in fields and performing crop-handling tasks, is for robots to robustly detect the rows of plants. Recent work done towards autonomous driving between plant rows offers big robotic platforms equipped with various expensive sensors as a solution to this problem. These platforms need to be driven over the rows of plants. This approach lacks flexibility and scalability when it comes to the height of plants or distance between rows. This paper proposes instead an algorithm that makes use of cheaper sensors and has a higher variability. The main application is in tree nurseries. Here, plant height can range from a few centimeters to a few meters. Moreover, trees are often removed, leading to gaps within the plant rows. The core idea is to combine row detection algorithms with graph-based localization methods as they are used in SLAM. Nodes in the graph represent the estimated pose of the robot, and the edges embed constraints between these poses or between the robot and certain landmarks. This setup aims to improve individual plant detection and deal with exception handling, like row gaps, which are falsely detected as an end of rows. Four methods were developed for detecting row structures in the fields, all using a point cloud acquired with a 3D LiDAR as an input. Comparing the field coverage and number of damaged plants, the method that uses a local map around the robot proved to perform the best, with 68% covered rows and 25% damaged plants. This method is further used and combined with a graph-based localization algorithm, which uses the local map features to estimate the robot’s position inside the greater field. Testing the upgraded algorithm in a variety of simulated fields shows that the additional information obtained from localization provides a boost in performance over methods that rely purely on perception to navigate. The final algorithm achieved a row coverage of 80% and an accuracy of 27% damaged plants. Future work would focus on achieving a perfect score of 100% covered rows and 0% damaged plants. The main challenges that the algorithm needs to overcome are fields where the height of the plants is too small for the plants to be detected and fields where it is hard to distinguish between individual plants when they are overlapping. The method was also tested on a real robot in a small field with artificial plants. The tests were performed using a small robot platform equipped with wheel encoders, an IMU and an FX10 3D LiDAR. Over ten runs, the system achieved 100% coverage and 0% damaged plants. The framework built within the scope of this work can be further used to integrate data from additional sensors, with the goal of achieving even better results.Keywords: 3D LiDAR, agricultural robots, graph-based localization, row detection
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