Search results for: Fluid Force

Authors: Eleni Ioannou, Pascal Nucara, Keith Pullen

Abstract:

The subject of this paper is the investigation of the best efficiency design of a compressor diffuser applied in new lightweight, ultra efficient micro-gas turbine engines for vehicles. The Computational Fluid Dynamics (CFD) results are obtained utilizing steady state simulations for a wedge and an ”oval” type pipe diffuser in an effort to identify the beneficial effects of the pipe diffuser design. The basic flow features are presented with particular focus on the optimization of the pipe diffuser leading to higher efficiencies for the compressor stage. The optimised pipe diffuser is designed to exploit the 3D freedom enabled by Selective Laser Melting, hence purposely involves an investigation of geometric characteristics that do not follow the traditional diffuser concept.

Keywords: CFD, centrifugal compressor, micro-gas turbine, pipe diffuser, SLM, wedge diffuser.

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Authors: Yrfet Shkreli

Abstract:

Despite all the wide research and literature on the subject, changing and challenging times often present themselves with new objectives, fluid politics, and everlasting point of views. Much is said about the subject and the trend nowadays is watching every European Union (EU) intervention as a form of neo colonialism or a form of establishing new markets. The paper will try to establish a perspective on EU influences, policies and impacts analyzed from multidimensional point of view, not limiting itself on a narrow external dimension, focusing on a broader understanding of it diverse contribution to global governance and peace keeping. Tending to be critical, this paper tends to fall out of extremes, nether holding a Eurocentric position, nor falling for cheap critic to the whole failures and impact of EU policies. The ambition is to show EU as a contributing factor while keeping in mind its nature as a multi layered actor and with not necessarily coinciding interests among its member states.

Keywords: European Union, global governance, globalization, normative power.

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Authors: Gholamhosein Khosravi, Mohammad Azadi, Hamidreza Ghezavati

Abstract:

In this paper, vibration of a nonlinear composite beam is analyzed and then an active controller is used to control the vibrations of the system. The beam is resting on a Winkler-Pasternak elastic foundation. The composite beam is reinforced by single walled carbon nanotubes. Using the rule of mixture, the material properties of functionally graded carbon nanotube-reinforced composites (FG-CNTRCs) are determined. The beam is cantilever and the free end of the beam is under follower force. Piezoelectric layers are attached to the both sides of the beam to control vibrations as sensors and actuators. The governing equations of the FG-CNTRC beam are derived based on Euler-Bernoulli beam theory Lagrange- Rayleigh-Ritz method. The simulation results are presented and the effects of some parameters on stability of the beam are analyzed.

Keywords: Carbon nanotubes, vibration control, piezoelectric layers, elastic foundation.

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Authors: Sarah Reker

Abstract:

The Convention on the Rights of Persons with Disabilities (CRPD) provides the basis of this study. For all countries which have ratified the convention since its entry into force in 2007, the effective implementation of the requirements often leads to considerable challenges. Furthermore, missing indicators make it difficult to measure progress. Therefore, the aim of the research project is to contribute to analyze the consequences of the implementation process on the inclusion and exclusion conditions for people with disabilities in Germany. Disabled People’s Organisations and other associations consider the social space to be relevant for the successful implementation of the CRPD. Against this background, the research project wants to focus on the relationship between a barrier-free access to the social space and the “full and effective participation and inclusion” (Art. 3) of persons with disabilities. The theoretical basis of the study is the sociological theory of social space (“Sozialraumtheorie”).

Keywords: Decentralisation, qualitative research, residential facilities, social space.

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Authors: Vipin Kumar Jain, Praveen Kumar, Y.K. Vijay

Abstract:

ZnO-SnO2 i.e. Zinc-Tin-Oxide (ZTO) thin films were deposited on glass substrate with varying concentrations (ZnO:SnO2 - 100:0, 90:10, 70:30 and 50:50 wt.%) at room temperature by flash evaporation technique. These deposited ZTO film were annealed at 450 0C in vacuum. These films were characterized to study the effect of annealing on the structural, electrical, and optical properties. Atomic force microscopy (AFM) and Scanning electron microscopy (SEM) images manifest the surface morphology of these ZTO thin films. The apparent growth of surface features revealed the formation of nanostructure ZTO thin films. The small value of surface roughness (root mean square RRMS) ensures the usefulness in optical coatings. The sheet resistance was also found to be decreased for both types of films with increasing concentration of SnO2. The optical transmittance found to be decreased however blue shift has been observed after annealing.

Keywords: ZTO thin film, AFM, SEM, Optical transmittance, Sheet resistance.

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Authors: G. F. Guimarães, A. R. de Faria, R. R. Rego, A. L. R. D’Oliveira

Abstract:

One of the most relevant phenomena in manufacturing is the residual stress state development through the manufacturing chain. In most cases, the residual stresses have their origin in the heterogenous plastification produced by the processes. Although a few manufacturing processes have been successfully approached by numerical modeling, there is still lack of understanding on how these processes' interactions will affect the final stress state. The objective of this work is to analyze the effect of the grinding procedure on the residual stress state generated by a quasi-static indentation. The model consists in a simplified approach of shot peening, modeling four cases with variations in indenter size and force. This model was validated through topography, measured by optical 3D focus-variation. The indentation model configured with two loads was then exposed to two grinding procedures and the result was analyzed. It was observed that the grinding procedure will have a significant effect on the stress state.

Keywords: plasticity, residual stress, finite element method, manufacturing

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Authors: M. Barański

Abstract:

This article presents a new vibration diagnostic method designed to (PM) machines with permanent magnets. Those devices are commonly used in small wind and water systems or vehicles drives. The author’s method is very innovative and unique. Specific structural properties of PM machines are used in this method - electromotive force (EMF) generated due to vibrations. There was analysed number of publications which describe vibration diagnostic methods and tests of electrical PM machines and there was no method found to determine the technical condition of such machine basing on their own signals. In this article will be discussed: the method genesis, the similarity of machines with permanent magnet to vibration sensor and simulation and laboratory tests results. The method of determination the technical condition of electrical machine with permanent magnets basing on its own signals is the subject of patent application and it is the main thesis of author’s doctoral dissertation.

Keywords: Electrical vehicle, generator, permanent magnet, traction drive, vibrations.

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Authors: Aomar Anane, Omar Chakrone, Loubna Moutaouekkil

Abstract:

As p-Laplacian equations have been widely applied in field of the fluid mechanics and nonlinear elastic mechanics, it is necessary to investigate the periodic solutions of functional differential equations involving the scalar p-Laplacian. By using Mawhin’s continuation theorem, we study the existence of periodic solutions for p-Laplacian neutral Rayleigh equation (ϕp(x(t)−c(t)x(t − r))) + f(x(t)) + g1(x(t − τ1(t, |x|∞))) + β(t)g2(x(t − τ2(t, |x|∞))) = e(t), It is meaningful that the functions c(t) and β(t) are allowed to change signs in this paper, which are different from the corresponding ones of known literature.

Keywords: periodic solution, neutral Rayleigh equation, variable sign, Deviating argument, p-Laplacian, Mawhin’s continuation.

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Authors: Nagi Mekhiel

Abstract:

Many applications use vector operations by applying single instruction to multiple data that map to different locations in conventional memory. Transferring data from memory is limited by access latency and bandwidth affecting the performance gain of vector processing. We present a memory system that makes all of its content available to processors in time so that processors need not to access the memory, we force each location to be available to all processors at a specific time. The data move in different orbits to become available to other processors in higher orbits at different time. We use this memory to apply parallel vector operations to data streams at first orbit level. Data processed in the first level move to upper orbit one data element at a time, allowing a processor in that orbit to apply another vector operation to deal with serial code limitations inherited in all parallel applications and interleaved it with lower level vector operations.

Keywords: Memory organization, parallel processors, serial code, vector processing.

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Authors: C. Guven, M. Tufekci, E. Bayik, O. Gedik, M. Tas

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A sliding door system is used in commercial vehicles and passenger cars to allow a larger unobstructed access to the interior for loading and unloading. The movement of a sliding door on vehicle body is ensured by mechanisms and tracks having special cross-section which is manufactured by roll forming and stretch bending process. There are three tracks and three mechanisms which are called upper, central and lower on a sliding door system. There are static requirements as strength on different directions, rigidity for mechanisms, door drop off, door sag; dynamic requirements as high energy slam opening-closing and durability requirement to validate these products. In addition, there is a kinematic requirement to find out force values from door handle during manual operating. In this study, finite element analysis and physical test results which are realized for sliding door systems will be shared comparatively.

Keywords: Finite element analysis, sliding door, experimental, verification, vehicle tests.

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Authors: Peyman Honarmandi, Mazen Alhirsh

Abstract:

Banner towing is a major form of advertisement. It consists of a banner showing a logo or a selection of words or letters being towed by an aircraft. Traditionally bush planes have been used to tow banners given their high thrust capabilities, however, with the development of Remote-Controlled (RC) aircraft, they could be a good replacement as RC planes mitigate the risk of human life and can be easier to operate. This paper studies the best banner design to be towed by an RC aircraft. This is done by conducting wind tunnel testing on an array of banners with different materials and designs. A pull gauge is used to record the drag force during testing which is then used to calculate the coefficient of drag, Cd. The testing results show that the best banner design would be a hybrid design with a solid and mesh material. The design with the lowest Cd of 0.082 was a half ripstop nylon half polyester mesh design. On the other hand, the design with highest Cd of 0.305 involved incorporating a tail chute to decrease fluttering.

Keywords: Aerodynamics of banner, banner design, banner towing, drag coefficients of banner, RC aircraft banner.

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Authors: S. Raja Balachandar, K.Kannan

Abstract:

A new Meta heuristic approach called "Randomized gravitational emulation search algorithm (RGES)" for solving vertex covering problems has been designed. This algorithm is found upon introducing randomization concept along with the two of the four primary parameters -velocity- and -gravity- in physics. A new heuristic operator is introduced in the domain of RGES to maintain feasibility specifically for the vertex covering problem to yield best solutions. The performance of this algorithm has been evaluated on a large set of benchmark problems from OR-library. Computational results showed that the randomized gravitational emulation search algorithm - based heuristic is capable of producing high quality solutions. The performance of this heuristic when compared with other existing heuristic algorithms is found to be excellent in terms of solution quality.

Keywords: Vertex covering Problem, Velocity, Gravitational Force, Newton's Law, Meta Heuristic, Combinatorial optimization.

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Authors: Shohei Nakai, Yasuhiro Yamada

Abstract:

Weed suppression and weeding are necessary measures for rice cultivation. Weed suppression precedes the process of weeding. It means suppressing the growth of young weeds and creating a weed-less environment. If we suppress the growth of weeds, we can reduce the number of weeds in a paddy field. This would result in a reduction of the weeding work load. In this paper, we will show how we developed a weed suppression robot for the purpose of reducing the weeding work load. The robot has a laser range finder for autonomous mobility and a robot arm for weed suppression. It travels along the rice rows without stepping on and injuring the rice plants in a paddy field. The robot arm applies force to the weed seedlings and thereby suppresses the growth of weeds. This paper will explain the methodology of the autonomous mobile, the experiment in weed suppression, and the method of controlling the robot’s posture on uneven ground.

Keywords: Mobile robot, Paddy field, Robot arm, Weed.

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Authors: Luna Shamieh

Abstract:

Various players are part of the game in an asymmetric war, all making efforts to provide human security to their own adherents. Although a fragile state is not able to provide sufficient and comprehensive services, it still provides special services and security to the elite; the insurgents as well provide services and security to their associates. The humanitarian organisations, on the other hand, provide some fundamental elements of human security, but only in the regions, they are able to access when possible (if possible). The counterinsurgents (security forces of the state and intervention forces) operate within a narrow band defined by the vision of the responsibility to protect and the perspective of the resolution of the conflict through combat; hence, the possibility to provide human security is shaken at this end. This article examines how each player provides human security from the perspective of freedom from want in order to secure basic and strategic needs, freedom from fear through providing protection against all kinds of violence, and the freedom to live in dignity. It identifies a vicious cycle caused by the intervention of the different players causing a centrifugal force that may lead to disintegration of the nation under war.

Keywords: Human security, asymmetric war, counter insurgency, fragile state, insurgency.

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Authors: I. V. Singh, A. Singh

Abstract:

In this paper, mesh-free element free Galerkin (EFG) method is extended to solve two-dimensional potential flow problems. Two ideal fluid flow problems (i.e. flow over a rigid cylinder and flow over a sphere) have been formulated using variational approach. Penalty and Lagrange multiplier techniques have been utilized for the enforcement of essential boundary conditions. Four point Gauss quadrature have been used for the integration on two-dimensional domain (Ω) and nodal integration scheme has been used to enforce the essential boundary conditions on the edges (┌). The results obtained by EFG method are compared with those obtained by finite element method. The effects of scaling and penalty parameters on EFG results have also been discussed in detail.

Keywords: Meshless, EFG method, potential flow, Lagrange multiplier method, penalty method, penalty parameter and scaling parameter

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Authors: Arash Habibi Lashkari, Azizah Abdul Manaf, Maslin Masrom

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In today's day and age, one of the important topics in information security is authentication. There are several alternatives to text-based authentication of which includes Graphical Password (GP) or Graphical User Authentication (GUA). These methods stems from the fact that humans recognized and remembers images better than alphanumerical text characters. This paper will focus on the security aspect of GP algorithms and what most researchers have been working on trying to define these security features and attributes. The goal of this study is to develop a fuzzy decision model that allows automatic selection of available GP algorithms by taking into considerations the subjective judgments of the decision makers who are more than 50 postgraduate students of computer science. The approach that is being proposed is based on the Fuzzy Analytic Hierarchy Process (FAHP) which determines the criteria weight as a linear formula.

Keywords: Graphical Password, Authentication Security, Attack Patterns, Brute force attack, Dictionary attack, Guessing Attack, Spyware attack, Shoulder surfing attack, Social engineering Attack, Password Entropy, Password Space.

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Authors: H.Y. Lai, S. C. Chang, W. L. Chen

Abstract:

The hydrodynamic and thermal lattice Boltzmann methods are applied to investigate the turbulent convective heat transfer in the wavy channel flows. In this study, the turbulent phenomena are modeling by large-eddy simulations with the Smagorinsky model. As a benchmark, the laminar and turbulent backward-facing step flows are simulated first. The results give good agreement with other numerical and experimental data. For wavy channel flows, the distribution of Nusselt number and the skin-friction coefficients are calculated to evaluate the heat transfer effect and the drag force. It indicates that the vortices at the trough would affect the magnitude of drag and weaken the heat convection effects on the wavy surface. In turbulent cases, if the amplitude of the wavy boundary is large enough, the secondary vortices would be generated at troughs and contribute to the heat convection. Finally, the effects of different Re on the turbulent transport phenomena are discussed.

Keywords: Heat transfer, lattice Boltzmann method, turbulence, wavy channel.

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Authors: Kyoung Hoon Kim

Abstract:

ORC (Organic Rankine Cycle) has potential of reducing consumption of fossil fuels and has many favorable characteristics to exploit low-temperature heat sources. In this work thermodynamic performance of ORC with regeneration is comparatively assessed for various working fluids. Special attention is paid to the effects of system parameters such as the turbine inlet pressure on the characteristics of the system such as net work production, heat input, volumetric flow rate per 1 MW of net work and quality of the working fluid at turbine exit as well as thermal efficiency. Results show that for a given source the thermal efficiency generally increases with increasing of the turbine inlet pressure however has optimal condition for working fluids of low critical pressure such as iso-pentane or n-pentane.

Keywords: low-grade energy source, organic Rankine cycle(ORC), regeneration, Patel-Teja equation.

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Authors: Jun-Oh Kim, Seol-Min Yang, Seok-Heum Baek, Sangmo Kang

Abstract:

In this paper, the shape design process is briefly discussed emphasizing the use of topology optimization in the conceptual design stage. The basic idea is to view feasible domains for sensitivity region concepts. In this method, the main process consists of two steps: as the design moves further inside the feasible domain using Taguchi method, and thus becoming more successful topology optimization, the sensitivity region becomes larger. In designing a double-eccentric butterfly valve, related to hydrodynamic performance and disc structure, are discussed where the use of topology optimization has proven to dramatically improve an existing design and significantly decrease the development time of a shape design. Computational Fluid Dynamics (CFD) analysis results demonstrate the validity of this approach.

Keywords: Double-eccentric butterfly valve, CFD, Topology optimization

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Authors: Arpiruk Hokpunna, Michael Manhart

Abstract:

We present a Large-Eddy simulation of a vortex cell with circular shaped. The results show that the flow field can be sub divided into four important zones, the shear layer above the cavity, the stagnation zone, the vortex core in the cavity and the boundary layer along the wall of the cavity. It is shown that the vortex core consits of solid body rotation without much turbulence activity. The vortex is mainly driven by high energy packets that are driven into the cavity from the stagnation point region and by entrainment of fluid from the cavity into the shear layer. The physics in the boundary layer along the cavity-s wall seems to be far from that of a canonical boundary layer which might be a crucial point for modelling this flow.

Keywords: Turbulent flow, Large eddy simulations, boundary layer and cavity flow, vortex cell flow.

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Authors: Qun-Feng Zhang, Pan-Pan Yan, Jun Li, Jun-Qing Lei

Abstract:

Numerical investigation of hammershock propagation in the S-bend intake caused by engine surge has been conducted by using Improved Delayed Detach-Eddy Simulation (IDDES). The effects of surge signatures on hammershock characteristics are obtained. It was shown that once the hammershock is produced, it moves upward to the intake entrance quickly with constant speed, however, the strength of hammershock keeps increasing. Meanwhile, being influenced by the centrifugal force, the hammershock strength on the larger radius side is much larger. Hammershock propagation speed and strength are sensitive to the ramp upgradient of surge signature. A larger ramp up gradient results in higher propagation speed and greater strength. Nevertheless, ramp down profile of surge signature have no obvious effect on the propagation speed and strength of hammershock. Increasing the maximum value of surge signature leads to enhance in the intensity of hammershock, they approximately match quadratic function distribution law.

Keywords: Hammershock, IDDES, S-bend, surge signature.

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Authors: Mahmoud Huleihil

Abstract:

In this study, the performance of a thermodynamic gas cycle of magnetohydrodynamic (MHD) power generation is considered and presented in terms of power efficiency curves. The dissipation mechanisms considered include: fluid friction modeled by means of the isentropic efficiency of the compressor, heat transfer leakage directly from the hot reservoir to the cold heat reservoir, and constant velocity of the MHD generator. The study demonstrates that power and efficiency vanish at the extremes of both slow and fast operating conditions. These points are demonstrated on power efficiency curves and the locus of efficiency at maximum power and the locus of maximum efficiency. Qualitatively, the considered loss mechanisms have a similar effect on the efficiency at maximum power operation and on maximum efficiency operation, thus these efficiencies are reduced, even for small values of the loss mechanisms.

Keywords: Magnetohydrodynamic generator, electrical efficiency, maximum power, maximum efficiency, heat engine.

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Authors: Ihsan Al-Abboodi, Tahsin Toma-Sabbagh

Abstract:

Laboratory tests have been carried out to investigate the response of 2x2 pile group subjected to triangular soil movement. The pile group was instrumented with displacement and tilting devices at the pile cap and strain gauges on two piles of the group. In this paper, results from four model tests were presented to study the effects of axial loads and soil density on the lateral behavior of piles. The responses in terms of bending moment, shear force, soil pressure, deflection, and rotation of piles were compared. Test results indicate that increasing the soil strength could increase the measured moment, shear, soil pressure, and pile deformations. Most importantly, adding loads to the pile cap induces additional moment to the head of front-pile row unlike the back-pile row which was influenced insignificantly.

Keywords: Pile group, passive piles, lateral soil movement, soil density, axial loads.

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Authors: Mohammad R. Salimpour, Amir Dehshiri

Abstract:

In the present article, we investigate experimental laminar forced convective heat transfer specifications of TiO2/water nanofluids through conduits with different cross sections. we check the effects of different parameters such as cross sectional shape, Reynolds number and concentration of nanoparticles in stable suspension on increasing convective heat transfer by designing and assembling of an experimental apparatus. The results demonstrate adding a little amount of nanoparticles to the base fluid, improves heat transfer behavior in conduits. Moreover, conduit with circular cross-section has better performance compared to the square and triangular cross sections. However, conduits with square and triangular cross sections have more relative heat transfer enchantment than conduit with circular cross section.

Keywords: Nanofluid, cross-sectional shape, TiO2, convection.

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Authors: D. Yilmaz, M.R. Usal

Abstract:

Nozzle is the main part of various spinning systems such as air-jet and Murata air vortex systems. Recently, many researchers worked on the usage of the nozzle on different spinning systems such as conventional ring and compact spinning systems. In these applications, primary purpose is to improve the yarn quality. In present study, it was produced the yarns with two different nozzle types and determined the changes in yarn properties. In order to explain the effect of the nozzle, airflow structure in the nozzle was modelled and airflow variables were determined. In numerical simulation, ANSYS 12.1 package program and Fluid Flow (CFX) analysis method was used. As distinct from the literature, Shear Stress Turbulent (SST) model is preferred. And also air pressure at the nozzle inlet was measured by electronic mass flow meter and these values were used for the simulation of the airflow. At last, the yarn was modelled and the area from where the yarn is passing was included to the numerical analysis.

Keywords: Nozzle, compressed air, swirling airflow, yarn properties.

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Authors: Hamed Ahmadi Moghadam, Omolbanin Arasteh Khoshbin

Abstract:

Nowadays, the performance required for concrete structures is more complicated and diversified. Self-compacting concrete is a fluid mixture suitable for placing in structures with congested reinforcement without vibration. Self-compacting concrete development must ensure a good balance between deformability and stability. Also, compatibility is affected by the characteristics of materials and the mix proportions; it becomes necessary to evolve a procedure for mix design of SCC. This paper presents an experimental procedure for the design of self-compacting concrete mixes with different water-cement ratios (w/c) and other constant ratios by local materials. The test results for acceptance characteristics of self-compacting concrete such as slump flow, V-funnel and L-Box are presented. Further, compressive strength, tensile strength and modulus of elasticity of specimens were also determined and results are included here

Keywords: Self-Compacting Concrete, Mix Design, Compressive Strength, Tensile Strength, Modulus of Elasticity

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Authors: Babak Abazadeh, Hadi Rezghi Maleki

Abstract:

In this paper the fatigue crack initiation location of double shear lap joints, treated by interference fit and bolt clamping, have been investigated both experimentally and numerically. To do so, using the fracture section of available fatigue tested specimens of interference fitted and torque tightened Aluminum 2024-T3 plates, the crack initiation location was determined. The stress distribution attained from the finite element analysis was used to help explain the results observed in the experimental tests. The results showed that the fatigue crack initiation location changes from top and mid plane at the hole edge to somewhere far from the hole edge (stress concentration region) in different combination of clamping force, interference fit size and applied cyclic load ranges. It is worth mentioning that the fatigue crack initiation location affects the fatigue life of the specimens too.

Keywords: Fatigue crack initiation, interference fit, bolt clamping, double shear lap joint.

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Authors: S.M.Hosseinalipour, H.Aghakhani

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Considering the numerous applications of the study of the flow due to leakage in a buried pipe in unsaturated porous media, finding a proper model to explain the influence of the effective factors is of great importance.There are various important factors involved in this type of flow such as: pipe leakage size and location, burial depth, the degree of the saturation of the surrounding porous medium, characteristics of the porous medium, fluid type and pressure of the upstream.In this study, the flow through unsaturated porous media due to leakage of a buried pipe for up and down leakage location is studied experimentally and numerically and their results are compared. Study results show that Darcy equation together with BCM method (for calculating the relative permeability) have suitable ability for predicting the flow due to leakage of buried pipes in unsaturated porous media.

Keywords: Buried, Leaking pipe, Porous media, Unsaturated

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Authors: P. Bárta

Abstract:

Increasing demand on the performance of Subsea Production Systems (SPS) suggests a need for more detailed investigation of fluid behavior taking place in subsea equipment. Complete CFD cool down analyses of subsea equipment are very time demanding. The objective of this paper is to investigate a Locked CFD approach, which enables significant reduction of the computational time and at the same time maintains sufficient accuracy during thermal cool down simulations. The result comparison of a dead leg simulation using the Full CFD and the three LCFD-methods confirms the validity of the locked flow field assumption for the selected case. For the tested case the LCFD simulation speed up by factor of 200 results in the absolute thermal error of 0.5 °C (3% relative error), speed up by factor of 10 keeps the LCFD results within 0.1 °C (0.5 % relative error) comparing to the Full CFD.

Keywords: CFD, Locked Flow Field, Speed up of CFD simulation time, Subsea

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Authors: E. Abedi, A. Ahmadi Nadooshan, S. Salehi

Abstract:

Modeling and vibration of a flexible link manipulator with tow flexible links and rigid joints are investigated which can include an arbitrary number of flexible links. Hamilton principle and finite element approach is proposed to model the dynamics of flexible manipulators. The links are assumed to be deflection due to bending. The association between elastic displacements of links is investigated, took into account the coupling effects of elastic motion and rigid motion. Flexible links are treated as Euler-Bernoulli beams and the shear deformation is thus abandoned. The dynamic behavior due to flexibility of links is well demonstrated through numerical simulation. The rigid-body motion and elastic deformations are separated by linearizing the equations of motion around the rigid body reference path. Simulation results are shown on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics remarkably well. The proposed method can be used in both dynamic simulation and controller design.

Keywords: Flexible manipulator, flexible link, dynamicmodeling, end point.

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