In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the ...In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.展开更多
Rivers often witness non-uniform bed load sedim ent transport. For a long tim e, non-uniform bed load transport has been assum ed to be at capacity regime determined exclusively by local flow. Yet whether the capacity...Rivers often witness non-uniform bed load sedim ent transport. For a long tim e, non-uniform bed load transport has been assum ed to be at capacity regime determined exclusively by local flow. Yet whether the capacity assumption for non-uniform bed load transport is justified remains poorly understood. Here, the relative time scale of non-uniform bed load transport is evaluated and non-capacity and capacity models are compared for both aggradation and degradation cases with observed data. As characterized by its relative time scale, the adaptation of non-uniform bed load to capacity regime should be fulfilled quickly. However, changes in the flow and sedim ent inputs from upstream or tributaries hinder the adaptation. Also, the adaptation to capacity regime is size dependent, the finer the sediment size the slower the adaptation is, and vice versa. It is shown that the capacity model may entail considerable errors compared to the non-capacity model. For modelling of non-uniform bed load, non-capacity modelling is recommended, in which the temporal and spatial scales required for adaptation are explicitly appreciated.展开更多
Sediment transport can be modelled using hydrodynamic models based on shallow water equations coupled with the sediment concentration conservation equation and the bed con-servation equation.The complete system of equ...Sediment transport can be modelled using hydrodynamic models based on shallow water equations coupled with the sediment concentration conservation equation and the bed con-servation equation.The complete system of equations is made up of the energy balance law and the Exner equations.The numerical solution for this complete system is done in a seg-regated manner.First,the hyperbolic part of the system of balance laws is solved using a finite volume scheme.Three ways to compute the numerical flux have been considered,the Q-scheme of van Leer,the HLLCS approximate Riemann solver,and the last one takes into account the presence of non-conservative products in the model.The discretisation of the source terms is carried out according to the numerical flux chosen.In the second stage,the bed conservation equation is solved by using the approximation computed for the system of balance laws.The numerical schemes have been validated making comparisons between the obtained numerical results and the experimental data for some physical experiments.The numerical results show a good agreement with the experimental data.展开更多
Liquefied Natural Gas (LNG) port is located at Abu Qir Bay on the northwestern coast of the Nile delta, Egypt. The port was constructed in 2004 to export liquefied natural gas worldwide. The offshore basins of this po...Liquefied Natural Gas (LNG) port is located at Abu Qir Bay on the northwestern coast of the Nile delta, Egypt. The port was constructed in 2004 to export liquefied natural gas worldwide. The offshore basins of this port including the turning and berthing areas (15-m depth) are connected to the deep water by a 15-m depth dredged channel that extends 4 km offshore. However, the navigation channel and its contiguous basins have experienced problematic shoaling that might affect the navigation activities of gas tankers. Sedimentation processes have been investigated by analyses of waves, currents, bathymetry, grain size of seabed and channel dimensions. Sedimentation rates are estimated using a developed numerical model. Sedimentation rate fluctuates between 0.048 × 106 m3/month and 0.388 × 106 m3/month, with an annual sedimentation rate of 1.977 × 106 m3/yr. The variance in the sedimentation rates between winter and summer resulted in increasing of current speed and direction flowing towards offshore. The sedimentation process is influenced by the temporal variability in the direction and intensity of the predominant waves, currents, orientation of navigation channel, basin breakwaters, seafloor morphology and sediment sources. Due to the geographic location of LNG port it lays within a sediment sink for sediments supplied from different alternating directions by several pathways, flowing towards the N-W, S-W, N-E, and S-E quadrants. Most of these currents components are substantially effective in transporting fine-grained sediment towards the navigation channel axis and contiguous basins. Together with these currents, the predominant NW and SE waves acting to agitate and stirrup sediments in the vicinity of the port, and thereby accelerating sedimentation rates.展开更多
Prediction of coastal sediment transport is of particularly importance for analyzing coast erosion accurately and solving the corresponding coast protection engineering problems.The present study provided a numerical ...Prediction of coastal sediment transport is of particularly importance for analyzing coast erosion accurately and solving the corresponding coast protection engineering problems.The present study provided a numerical scheme for sediment transport in coastal waves and wave-induced currents.In the scheme,the sand transport model was implemented with wave refraction-diffraction model and near-shore current model.Coastal water wave was simulated by using the parabolic mild-slope equation in which wave refraction,diffraction and breaking effects are considered.Wave-induced current was simulated by using the nonlinear shallow water equations in which wave provides radiation stresses for driving current.Then,sediment transport in waves and wave-induced currents was simulated by using the two-dimensional suspended sediment transport equations for suspended sediment and the bed-load transport equation for bed load.The numerical scheme was validated by experiment results from the Large-scale Sediment Transport Facility at the US Army Corps of Engineer Research and Development Center in Vicksburg.The numerical results showed that the present scheme is an effective tool for modeling coastal sediment transport in waves and near-shore currents.展开更多
文摘In this paper, dynamic modeling and control problem for transfer of a sloshing liquid container suspended through rigid massless links from a team of quadrotors are investigated. By the proposed solution, pose of the slung container and fluid sloshing modes are stabilized appropriately. Dynamics of the container-liquid-quadrotors system is modeled by Euler-Lagrange method.Fluid slosh dynamics is included using multi-mass-spring model. According to derived model, a proper control law is designed for a system with three or more quadrotors. Implementing the proposed control law, quadrotors can control pose of the container, directions of the links and liquid sloshing modes simultaneously. Stability of closed loop system of tracking errors and sloshing modes are demonstrated using a theory of singularly perturbed systems and Lyapunov stability theorem. Also, the capability of the proposed feedback control laws in solving a formerly organized transport problem of a liquid filled container has been demonstrated in simulations. Moreover, priority of the proposed control scheme to an existing slung load controller in the literature is demonstrated.
基金funded by the N atural Science Foundation of China (G rants No. 11172217, 51279144 and 11432015)Chinese Academy of Sciences (G rant No. KZZDEW -05-01-03)
文摘Rivers often witness non-uniform bed load sedim ent transport. For a long tim e, non-uniform bed load transport has been assum ed to be at capacity regime determined exclusively by local flow. Yet whether the capacity assumption for non-uniform bed load transport is justified remains poorly understood. Here, the relative time scale of non-uniform bed load transport is evaluated and non-capacity and capacity models are compared for both aggradation and degradation cases with observed data. As characterized by its relative time scale, the adaptation of non-uniform bed load to capacity regime should be fulfilled quickly. However, changes in the flow and sedim ent inputs from upstream or tributaries hinder the adaptation. Also, the adaptation to capacity regime is size dependent, the finer the sediment size the slower the adaptation is, and vice versa. It is shown that the capacity model may entail considerable errors compared to the non-capacity model. For modelling of non-uniform bed load, non-capacity modelling is recommended, in which the temporal and spatial scales required for adaptation are explicitly appreciated.
基金supported by the Spanish MICINN project MTM2013-43745-R and MTM2017-86459-Rthe Xunta de Galicia+1 种基金the FEDER under research project ED431C 2017/60-014supported by PRODEP project UAM-PTC-669
文摘Sediment transport can be modelled using hydrodynamic models based on shallow water equations coupled with the sediment concentration conservation equation and the bed con-servation equation.The complete system of equations is made up of the energy balance law and the Exner equations.The numerical solution for this complete system is done in a seg-regated manner.First,the hyperbolic part of the system of balance laws is solved using a finite volume scheme.Three ways to compute the numerical flux have been considered,the Q-scheme of van Leer,the HLLCS approximate Riemann solver,and the last one takes into account the presence of non-conservative products in the model.The discretisation of the source terms is carried out according to the numerical flux chosen.In the second stage,the bed conservation equation is solved by using the approximation computed for the system of balance laws.The numerical schemes have been validated making comparisons between the obtained numerical results and the experimental data for some physical experiments.The numerical results show a good agreement with the experimental data.
文摘Liquefied Natural Gas (LNG) port is located at Abu Qir Bay on the northwestern coast of the Nile delta, Egypt. The port was constructed in 2004 to export liquefied natural gas worldwide. The offshore basins of this port including the turning and berthing areas (15-m depth) are connected to the deep water by a 15-m depth dredged channel that extends 4 km offshore. However, the navigation channel and its contiguous basins have experienced problematic shoaling that might affect the navigation activities of gas tankers. Sedimentation processes have been investigated by analyses of waves, currents, bathymetry, grain size of seabed and channel dimensions. Sedimentation rates are estimated using a developed numerical model. Sedimentation rate fluctuates between 0.048 × 106 m3/month and 0.388 × 106 m3/month, with an annual sedimentation rate of 1.977 × 106 m3/yr. The variance in the sedimentation rates between winter and summer resulted in increasing of current speed and direction flowing towards offshore. The sedimentation process is influenced by the temporal variability in the direction and intensity of the predominant waves, currents, orientation of navigation channel, basin breakwaters, seafloor morphology and sediment sources. Due to the geographic location of LNG port it lays within a sediment sink for sediments supplied from different alternating directions by several pathways, flowing towards the N-W, S-W, N-E, and S-E quadrants. Most of these currents components are substantially effective in transporting fine-grained sediment towards the navigation channel axis and contiguous basins. Together with these currents, the predominant NW and SE waves acting to agitate and stirrup sediments in the vicinity of the port, and thereby accelerating sedimentation rates.
基金The National Natural Science Foundation of China under contract Nos 51579036 and 51579030the Fundamental Research Funds for the Central Universities of China under contract No.DUT14YQ10
文摘Prediction of coastal sediment transport is of particularly importance for analyzing coast erosion accurately and solving the corresponding coast protection engineering problems.The present study provided a numerical scheme for sediment transport in coastal waves and wave-induced currents.In the scheme,the sand transport model was implemented with wave refraction-diffraction model and near-shore current model.Coastal water wave was simulated by using the parabolic mild-slope equation in which wave refraction,diffraction and breaking effects are considered.Wave-induced current was simulated by using the nonlinear shallow water equations in which wave provides radiation stresses for driving current.Then,sediment transport in waves and wave-induced currents was simulated by using the two-dimensional suspended sediment transport equations for suspended sediment and the bed-load transport equation for bed load.The numerical scheme was validated by experiment results from the Large-scale Sediment Transport Facility at the US Army Corps of Engineer Research and Development Center in Vicksburg.The numerical results showed that the present scheme is an effective tool for modeling coastal sediment transport in waves and near-shore currents.
