A scaled-time test method

The Pseudo-Dynamic Test Method (PDTM) is being developped currently as an alternative to the shaking table testing of large size models. However, the stepped slow execution of the former type of test has been found to be the source of important errors arising from the stress relaxation. A new continuous test method, wich allows the selection of a suitable time-scale factor in the response in order to control these errors, es proposed here. Such scaled-time response is theoretically obtained by simply augmenting the mass of the structure for wich some practical solutions are proposed.

The scaled-time test as an alternative to the pseudo-dynamic test

The stepped and excessively slow execution of pseudo-dynamic tests has been found to be the source of some errors arising from strain-rate effect and stress relaxation. In order to control those errors, a new continuous test method which allows the selection of a more suitable time scale factor in the response is proposed in this work. By dimensional analysis, such scaled-time response is obtained theoretically by augmenting the inertial and damping properties of the structure, for which we propose the use of hydraulic pistons which are servo-controlled to produce active mass and damping, nevertheless using an equipment which is similar to that required in a pseudo-dynamic test. The results of the successful implementation of this technique for a simple specimen are shown here.

Análisis teórico-experimental de pilares y vigas de hormigón armado reforzados con fibra de carbono

El presente trabajo se refiere al estudio teórico-experimental del comportamiento de pilares y vigas de hormigón armado reforzados con fibra de carbono o CFRP. El análisis se realiza considerando que los pilares se refuerzan mediante la técnica de adhesión de tejidos de fibra de carbono, generando un efecto de confinamiento. Las vigas se refuerzan mediante la incorporación de barras del mismo material, con refuerzos a cortante. El objetivo es poder comparar el estudio analítico de este tipo de refuerzos con resultados experimentales obtenidos con anterioridad a la realización de este documento, y así poder obtener conclusiones de las posibles diferencias. Hay que señalar que los modelos experimentales no forman parte de este estudio. Los ensayos en pilares fueron realizados en sección cuadrada y circular evaluando la rotura a compresión de las piezas, habiendo sido éstas escaladas con un factor de reducción de 2,3. Los ensayos correspondientes a vigas se realizaron en sección rectangular, centrándose en la evaluación de la rotura a flexión y habiendo sido escaladas igualmente, pero con un factor de reducción de 1:2. El documento se estructura en cuatro capítulos, cuyo contenido se expone de forma concisa a continuación. En el capítulo uno o marco teórico se exponen los principios de comportamiento y tipologías de los pilares y vigas de hormigón armado, las bases teóricas de su refuerzo y confinamiento, así como las diversas técnicas de refuerzo existentes. Se detalla la técnica con FRP, comparando y analizando sus ventajas e inconvenientes. En el capítulo dos se expone el proceso de fabricación, refuerzo y resultados de los modelos experimentales realizados para ambos elementos estructurales. La obtención de los modelos teóricos forma parte del capítulo tres, comparándose con los resultados experimentales en el cuarto capítulo. Finalmente, en el último capítulo se presentan las conclusiones obtenidas al realizar esta comparativa en el refuerzo de vigas y pilares con fibra de carbono. This work refers to the theoretical and experimental study of the behavior of CFRP reinforced concrete columns and beams. The analysis was done considering that the pillars are reinforced by CFRP wrapping technique, resulting in a confinement effect. The beams are reinforced by the addition of bars of the same material, with shear reinforcements. The objective is to compare the analytical study of this type of reinforcement with experimental results obtained prior to the performance of this document, and draw conclusions for any differences. Notice that experimental models are not part of this study. The tests were performed on circular and square section pillars, evaluating compression fracture of the pieces, having been scaled down with a factor of 2.3. The tests were performed on rectangular section beams, focusing on evaluation of the bending fracture and being scaled down equally, but with a factor of 1:2. The document is divided into four chapters, whose content is set out concisely below. The chapter one or theoretical framework sets out the principles of behavior and types of columns and beams of reinforced concrete, the theoretical basis of its reinforcement and confinement, as well as various existing reinforcement techniques. CFRP technique it’s detailed, comparing and analyzing their advantages and disadvantages. Chapter two describes the process of manufacture, reinforcement and results of experimental models made for both structural elements. Chapter three shows the obtaining of the theoretical models, comparing them with the experimental results in the fourth chapter. Finally, the last chapter presents the conclusions to make this comparison in the strengthening of beams and columns with carbon fiber.

Uso de DES y RANS no estacionario para la simulación del flujo alrededor de una carena Wigley - Use of Unsteady RANS and DES to simulate flows around a Wigley Hull)

Computer Fluid Dynamics tools have already become a valuable instrument for Naval Architects during the ship design process, thanks to their accuracy and the available computer power. Unfortunately, the development of RANSE codes, generally used when viscous effects play a major role in the flow, has not reached a mature stage, being the accuracy of the turbulence models and the free surface representation the most important sources of uncertainty. Another level of uncertainty is added when the simulations are carried out for unsteady flows, as those generally studied in seakeeping and maneuvering analysis and URANS equations solvers are used. Present work shows the applicability and the benefits derived from the use of new approaches for the turbulence modeling (Detached Eddy Simulation) and the free surface representation (Level Set) on the URANS equations solver CFDSHIP-Iowa. Compared to URANS, DES is expected to predict much broader frequency contents and behave better in flows where boundary layer separation plays a major role. Level Set methods are able to capture very complex free surface geometries, including breaking and overturning waves. The performance of these improvements is tested in set of fairly complex flows, generated by a Wigley hull at pure drift motion, with drift angle ranging from 10 to 60 degrees and at several Froude numbers to study the impact of its variation. Quantitative verification and validation are performed with the obtained results to guarantee their accuracy. The results show the capability of the CFDSHIP-Iowa code to carry out time-accurate simulations of complex flows of extreme unsteady ship maneuvers. The Level Set method is able to capture very complex geometries of the free surface and the use of DES in unsteady simulations highly improves the results obtained. Vortical structures and instabilities as a function of the drift angle and Fr are qualitatively identified. Overall analysis of the flow pattern shows a strong correlation between the vortical structures and free surface wave pattern. Karman-like vortex shedding is identified and the scaled St agrees well with the universal St value. Tip vortices are identified and the associated helical instabilities are analyzed. St using the hull length decreases with the increase of the distance along the vortex core (x), which is similar to results from other simulations. However, St scaled using distance along the vortex cores shows strong oscillations compared to almost constants for those previous simulations. The difference may be caused by the effect of the free-surface, grid resolution, and interaction between the tip vortex and other vortical structures, which needs further investigations. This study is exploratory in the sense that finer grids are desirable and experimental data is lacking for large α, especially for the local flow. More recently, high performance computational capability of CFDSHIP-Iowa V4 has been improved such that large scale computations are possible. DES for DTMB 5415 with bilge keels at α = 20º were conducted using three grids with 10M, 48M and 250M points. DES analysis for flows around KVLCC2 at α = 30º is analyzed using a 13M grid and compared with the results of DES on the 1.6M grid by. Both studies are consistent with what was concluded on grid resolution herein since dominant frequencies for shear-layer, Karman-like, horse-shoe and helical instabilities only show marginal variation on grid refinement. The penalties of using coarse grids are smaller frequency amplitude and less resolved TKE. Therefore finer grids should be used to improve V&V for resolving most of the active turbulent scales for all different Fr and α, which hopefully can be compared with additional EFD data for large α when it becomes available.

Development of Robotized Laser Welding Applications for Joining Thin Sheets

Laser Welding (LW) is more often used in manufacturing due to its advantages, such as accurate control, good repeatability, less heat input, opportunities for joining of special materials, high speed, capability to join small dimension parts etc. LW is dedicated to robotized manufacturing, and the fabrication cells are using various level of flexibility, from specialized robots to very flexible setups. This paper features several LW applications using two industrially-scaled manufacturing cells at UPM Laser Centre (CLUPM) of Polytechnical University of Madrid (Universidad Politécnica de Madrid). The one dedicated to Remote Laser Welding (RLW) of thin sheets for automotive and other sectors uses a CO2 laser of 3500 W. The second has a high flexibility, is based on a 6-axis ABB robot and a Nd:YAG laser of 3300 W, and is meant for various laser processing methods, including welding. After a short description of each cell, several LW applications experimented at CLUPM and recently implemented in industry are briefly presented: RLW of automotive coated sheets, LW of high strength automotive sheets, LW vs. laser hybrid welding (LHW) of Double Phase steel thin sheets, and LHW of thin sheets of stainless steel and carbon steel (dissimilar joints). The main technological issues overcame and the critical process parameters are pointed out. Conclusions about achievements and trends are provided.

Bubble growth by injection of gas into viscous liquids in cylindrical and conical tubes.

The laminar low Mach number flow of a gas in a tube is analyzed for very small and very large values of the inlet-to-wall temperature ratio. When this ratio tends to zero, pressure forces confine the cold gas to a thin core around the axis of the tube. This core is neatly bounded by an ablation front that consumes it at a finite distance from the tube inlet. When the temperature ratio tends to infinity, the temperature of the gas increases smoothly from the wall to the axis of the tube and the shear stress and heat flux are positive at the wall despite the fact that the viscosity and thermal conductivity of the gas scaled with their inlet values tend to zero at the wall.

Laminar flow of a gas in a tube with large temperature differences.

The laminar low Mach number flow of a gas in a tube is analyzed for very small and very large values of the inlet-to-wall temperature ratio. When this ratio tends to zero, pressure forces confine the cold gas to a thin core around the axis of the tube. This core is neatly bounded by an ablation front that consumes it at a finite distance from the tube inlet. When the temperature ratio tends to infinity, the temperature of the gas increases smoothly from the wall to the axis of the tube and the shear stress and heat flux are positive at the wall despite the fact that the viscosity and thermal conductivity of the gas scaled with their inlet values tend to zero at the wall

Systematic Analysis of Direct-Drive Baseline Designs for Shock-Ignition with the Laser Megajoule

Direct-drive inertial confinement thermonuclear fusion consists in illuminating a shell of cryogenic Deuterium and Tritium (DT) mixture with many intense beams of laser light. Capsule is composed of DT gassurrounded by cryogenic DT as combustible fuel. Basic rules are used to define shell geometry from aspect ratio, fuel mass and layers densities. We define baseline designs using two aspect ratio (A=3 and A=5) who complete HiPER baseline design (A=7.7). Aspect ratio is defined as the ratio of ice DT shell inner radius over DT shell thickness. Low aspect ratio improves hydrodynamics stabilities of imploding shell. Laser impulsion shape and ablator thickness are initially defined by using Lindl (1995) pressure ablation and mass ablation formulae for direct-drive using CH layer as ablator. In flight adiabat parameter is close to one during implosion. Velocitie simplosions chosen are between 260 km/s and 365 km/s. More than thousand calculations are realized for each aspect ratio in order to optimize the laser pulse shape. Calculations are performed using the one-dimensional version of the Lagrangian radiation hydrodynamics FCI2. We choose implosion velocities for each initial aspect ratio, and we compute scaled-target family curves for each one to find self-ignition threshold. Then, we pick points on each curves that potentially product high thermonuclear gain and compute shock ignition in the context of Laser MegaJoule. This systematic analyze reveals many working points which complete previous studies ´allowing to highlight baseline designs, according to laser intensity and energy, combustible mass and initial aspect ratio to be relevant for Laser MegaJoule.

Asymmetric propagation of airblast from bench blasting

This paper investigates the propagation of airblast from quarry blasting. Peak overpressure is calculated as a function of blasting parameters (explosive mass per delay and velocity at which the detonation sequence proceeds along the bench) and polar coordinates of the point of interest (distance to the blast and azimuth with respect to the free face of the blast). The model is in the form of the product of a classical scaled distance attenuation law times a directional correction factor. The latter considers the influence of the bench face, and attenuates overpressure at the top level and amplifies it at the bottom. Such factor also accounts for the effect of the delay by amplifying the pressure in the direction of the initiation sequence if the velocity of initiation exceeds half the speed of sound and up to an initiation velocity in the range of the speed of sound. The model has been fitted to an empirical data set composed by 134 airblast records monitored in 47 blasts at two quarries. The measurements were made at distances to the blast less than 450 m. The model is statistically significant and has a determination coefficient of 0.869

Soil fragmentation study applying different tillage systems

Runoff generation depends on rainfall, infiltration, interception, and surface depressional storage. Surface depressional storage depends on surface microtopography, usually quantified trough soil surface roughness (SSR). SSR is subject to spatial and temporal changes that create a high variability. In an agricultural environment, tillage operations produce abrupt changes in roughness. Subsequent rainfall gradually decreases roughness. Beside it, local variation in soil properties and hydrology cause its SSR to vary spatially at different scales. The methods commonly used to measure it involve collecting point elevations in regular grids using laser profilers or scanners, digital close range stereo-photogrammetry and terrestrial laser scanning or LIDAR systems. In this case, a laser-scanning instrument was used to obtain representative digital elevation models (DEMs) at a grid resolution of 7.2x7.2mm that cover an area of 0.9x0.9m. The DEMs were obtained from two study sites with different soils. The first study site was an experimental field on which five conventional tillage methods were applied. The second study site was a large olive orchard with trees planted at 7.5x5.0m and bare soils between rows. Here, three tillage treatments were applied. In this work we have evaluated the spatial variability of SSR at several scales studying differences in height calculated from points separated by incremental distances h were raised to power values q (from 0 to 4 in steps of 0.1). The q = 2 data were studied as a semivariogram model. The logarithm of average differences plotted vs. log h were characterized by their slope, ?(q). Structure functions [?(q) vs. q] were fitted showing that data had nonlinear structure functions typical of multiscale phenomena. Comparisson of the two types of soil in their respective structure functions are shown.

Estudio de la tolerancia al daño de los materiales y sistemas de pretensado

La mayoría de las estructuras de hormigón pretensadas construidas en los últimos 50 años han demostrado una excelente durabilidad cuando su construcción se realiza atendiendo las recomendaciones de un buen diseño así como una buena ejecución y puesta en obra de la estructura. Este hecho se debe en gran parte al temor que despierta el fenómeno de la corrosión bajo tensión típico de las armaduras de acero de alta resistencia. Menos atención se ha prestado a la susceptibilidad a la corrosión bajo tensión de los anclajes de postensado, posiblemente debido a que se han reportado pocos casos de fallos catastróficos. El concepto de Tolerancia al Daño y la Mecánica de la Fractura en estructuras de Ingeniería Civil ha empezado a incorporarse recientemente en algunas normas de diseño y cálculo de estructuras metálicas, sin embargo, aún está lejos de ser asimilado y empleado habitualmente por los ingenieros en sus cálculos cuando la ocasión lo requiere. Este desconocimiento de los aspectos relacionados con la Tolerancia al Daño genera importantes gastos de mantenimiento y reparación. En este trabajo se ha estudiado la aplicabilidad de los conceptos de la Mecánica de la Fractura a los componentes de los sistemas de postensado empleados en ingeniería civil, empleándolo para analizar la susceptibilidad de las armaduras activas frente a la corrosión bajo tensiones y a la pérdida de capacidad portante de las cabezas de anclajes de postensado debido a la presencia de defectos. Con este objeto se han combinado tanto técnicas experimentales como numéricas. Los defectos superficiales en los alambres de pretensado no se presentan de manera aislada si no que existe una cierta continuidad en la dirección axial así como un elevado número de defectos. Por este motivo se ha optado por un enfoque estadístico, que es más apropiado que el determinístico. El empleo de modelos estadísticos basados en la teoría de valores extremos ha permitido caracterizar el estado superficial en alambres de 5,2 mm de diámetro. Por otro lado la susceptibilidad del alambre frente a la corrosión bajo tensión ha sido evaluada mediante la realización de una campaña de ensayos de acuerdo con la actual normativa que ha permitido caracterizar estadísticamente su comportamiento. A la vista de los resultados ha sido posible evaluar como los parámetros que definen el estado superficial del alambre pueden determinar la durabilidad de la armadura atendiendo a su resistencia frente a la corrosión bajo tensión, evaluada mediante los ensayos que especifica la normativa. En el caso de las cabezas de anclaje de tendones de pretensado, los defectos se presentan de manera aislada y tienen su origen en marcas, arañazos o picaduras de corrosión que pueden producirse durante el proceso de fabricación, transporte, manipulación o puesta en obra. Dada la naturaleza de los defectos, el enfoque determinístico es más apropiado que el estadístico. La evaluación de la importancia de un defecto en un elemento estructural requiere la estimación de la solicitación local que genera el defecto, que permite conocer si el defecto es crítico o si puede llegar a serlo, si es que progresa con el tiempo (por fatiga, corrosión, una combinación de ambas, etc.). En este trabajo los defectos han sido idealizados como grietas, de manera que el análisis quedara del lado de la seguridad. La evaluación de la solicitación local del defecto ha sido calculada mediante el empleo de modelos de elementos finitos de la cabeza de anclaje que simulan las condiciones de trabajo reales de la cabeza de anclaje durante su vida útil. A partir de estos modelos numéricos se ha analizado la influencia en la carga de rotura del anclaje de diversos factores como la geometría del anclaje, las condiciones del apoyo, el material del anclaje, el tamaño del defecto su forma y su posición. Los resultados del análisis numérico han sido contrastados satisfactoriamente mediante la realización de una campaña experimental de modelos a escala de cabezas de anclaje de Polimetil-metacrilato en los que artificialmente se han introducido defectos de diversos tamaños y en distintas posiciones. ABSTRACT Most of the prestressed concrete structures built in the last 50 years have demonstrated an excellent durability when they are constructed in accordance with the rules of good design, detailing and execution. This is particularly true with respect to the feared stress corrosion cracking, which is typical of high strength prestressing steel wires. Less attention, however, has been paid to the stress corrosion cracking susceptibility of anchorages for steel tendons for prestressing concrete, probably due to the low number of reported failure cases. Damage tolerance and fracture mechanics concepts in civil engineering structures have recently started to be incorporated in some design and calculation rules for metallic structures, however it is still far from being assimilated and used by civil engineers in their calculations on a regular basis. This limited knowledge of the damage tolerance basis could lead to significant repair and maintenance costs. This work deals with the applicability of fracture mechanics and damage tolerance concepts to the components of prestressed systems, which are used in civil engineering. Such concepts have been applied to assess the susceptibility of the prestressing steel wires to stress corrosion cracking and the reduction of load bearing capability of anchorage devices due to the presence of defects. For this purpose a combination of experimental work and numerical techniques have been performed. Surface defects in prestressing steel wires are not shown alone, though a certain degree of continuity in the axial direction exist. A significant number of such defects is also observed. Hence a statistical approach was used, which is assumed to be more appropriate than the deterministic approach. The use of statistical methods based in extreme value theories has allowed the characterising of the surface condition of 5.2 mm-diameter wires. On the other hand the stress corrosion cracking susceptibility of the wire has been assessed by means of an experimental testing program in line with the current regulations, which has allowed statistical characterisasion of their performances against stress corrosion cracking. In the light of the test results, it has been possible to evaluate how the surface condition parameters could determine the durability of the active metal armour regarding to its resistance against stress corrosion cracking assessed by means of the current testing regulations. In the case of anchorage devices for steel tendons for prestressing concrete, the damage is presented as point defects originating from dents, scratches or corrosion pits that could be produced during the manufacturing proccess, transport, handling, assembly or use. Due to the nature of these defects, in this case the deterministic approach is more appropriate than the statistical approach. The assessment of the relevancy of defect in a structural component requires the computation of the stress intensity factors, which in turn allow the evaluation of whether the size defect is critical or could become critical with the progress of time (due to fatigue, corrosion or a combination of both effects). In this work the damage is idealised as tiny cracks, a conservative hypothesis. The stress intensity factors have been calculated by means of finite element models of the anchorage representing the real working conditions during its service life. These numeric models were used to assess the impact of some factors on the rupture load of the anchorage, such the anchorage geometry, material, support conditions, defect size, shape and its location. The results from the numerical analysis have been succesfully correlated against the results of the experimental testing program of scaled models of the anchorages in poly-methil methacrylate in which artificial damage in several sizes and locations were introduced.

Mejoras tecnológicas en el reciclado de residuos de construcción y demolición (RCD)

La tesis doctoral “Mejoras Tecnológicas en el Reciclado de Residuos de Construcción y Demolición (RCD)” investiga la utilización de los separadores hidráulicos para mejorar la calidad de los áridos reciclados, y se demuestra que es un equipo más eficiente que las técnicas actuales basadas en la simple separación por densidad. En la tesisn se ha realizado inicialmente una revisión de la situación del sector, para a continuación centrarse en los sistemas de separación utilizados en las plantas de valorización españolas. Una vez analizados éstos y en particular los de tipo hidráulico, de los que se resume un estudio comparativo, se ha procedido a ensayar a escala de Laboratorio el comportamiento de un separador hidráulico de aceleración diferencial con diversos materiales procedentes de tres plantas de reciclaje. Adicionalmente fueron probadas otras técnicas, como es la separación magnética para mejorar la calidad de los productos reciclados. En vista de los buenos resultados de la investigación, se procede a escalar los ensayos con equipo piloto y distintas composiciones de naturaleza cerámica y hormigón. El equipo utilizado fue un jig de 3´x 1´ en el que se ensayaron las tres muestras con resultados diferentes. La limpieza de los materiales impropios y el yeso fue positiva en las tres muestras, y únicamente la separación entre sí de los componentes pétreos, resultó dependiente de su proporción en la mezcla, obteniéndose los mejores resultados en las muestras con menor cantidad de materiales cerámicos. Finalmente, se procede a analizar en un laboratorio reconocido las propiedades de los áridos reciclados obtenidos en la separación hidráulica por jig, y constatar las mejoras conseguidas para su utilización como materiales de construcción en usos ligados y no ligados. Todo lo anterior permite afirmar que los equipos de separación hidráulica con aceleración diferencial (jig) presentan una innovación tecnológica en el reciclado de los residuos de construcción y demolición (RCD). ABSTRACT The doctoral thesis “Technological Improvements in Recycling of Construction and Demolition Waste (C&DW)” researches the hydraulic separators utilization in order to improve the recycled aggregates quality, demonstrating that the equipment is more efficient than the current techniques based on the simple density separation. This doctoral thesis has been initially done reviewing the situation of the sector and focusing afterwards on the separation systems used at the Spanish recovery facilities. Once analyzed these and, particularly, the hydraulic type ones, from which a comparative study has been summarized, the behavior of a differential acceleration hydraulic separator with various materials coming from three recycling plants has been tested at laboratory scale. Additionally other techniques have been tested, such as the magnetic separation to improve the quality of recycled products. In view of the good investigation results, the testing process scaled up by using pilot equipment and different ceramics and concrete compositions. The equipment utilized was a jig 3” x 1”, in which the three samples were tested with different results. The unsuitable materials and gypsum cleanliness was positive on the three samples and only the separation among the stony components turned out to be dependent of its proportion in the mixing, obtaining the best results in the samples with less quantity of ceramic materials. Finally, the properties of the recycled aggregates obtained by jig hydraulic separation are analyzed at a recognized laboratory and the improvements gained for their utilization as construction materials, in bounded and unbounded uses, are stated. The facts cited are a basis for affirming that the hydraulic separator equipments with differential acceleration (jig) offer a technological innovation in the Recycling of Construction and Demolition Waste (C&DW).

Spatial variability patterns of some Vertisol properties at a field scale using standardized data

Spatial variability of Vertisol properties is relevant for identifying those zones with physical degradation. In this sense, one has to face the problem of identifying the origin and distribution of spatial variability patterns. The objectives of the present work were (i) to quantify the spatial structure of different physical properties collected from a Vertisol, (ii) to search for potential correlations between different spatial patterns and (iii) to identify relevant components through multivariate spatial analysis. The study was conducted on a Vertisol (Typic Hapludert) dedicated to sugarcane (Saccharum officinarum L.) production during the last sixty years. We used six soil properties collected from a squared grid (225 points) (penetrometer resistance (PR), total porosity, fragmentation dimension (Df), vertical electrical conductivity (ECv), horizontal electrical conductivity (ECh) and soil water content (WC)). All the original data sets were z-transformed before geostatistical analysis. Three different types of semivariogram models were necessary for fitting individual experimental semivariograms. This suggests the different natures of spatial variability patterns. Soil water content rendered the largest nugget effect (C0 = 0.933) while soil total porosity showed the largest range of spatial correlation (A = 43.92 m). The bivariate geostatistical analysis also rendered significant cross-semivariance between different paired soil properties. However, four different semivariogram models were required in that case. This indicates an underlying co-regionalization between different soil properties, which is of interest for delineating management zones within sugarcane fields. Cross-semivariograms showed larger correlation ranges than individual, univariate, semivariograms (A ≥ 29 m). All the findings were supported by multivariate spatial analysis, which showed the influence of soil tillage operations, harvesting machinery and irrigation water distribution on the status of the investigated area.

Mechanical design optimization for multi-finger haptic devices applied to virtual grasping manipulation

This paper describes the design of a modular multi-finger haptic device for virtual object manipulation. Mechanical structures are based on one module per finger and can be scaled up to three fingers. Mechanical configurations for two and three fingers are based on the use of one and two redundant axes, respectively. As demonstrated, redundant axes significantly increase workspace and prevent link collisions, which is their main asset with respect to other multi-finger haptic devices. The location of redundant axes and link dimensions have been optimized in order to guarantee a proper workspace, manipulability, force capability, and inertia for the device. The mechanical haptic device design and a thimble adaptable to different finger sizes have also been developed for virtual object manipulation.

Low-dimensional modeling of streaks in a wedge flow boundary layer

This paper is concerned with the low dimensional structure of optimal streaks in a wedge flow boundary layer, which have been recently shown to consist of a unique (up to a constant factor) three-dimensional streamwise evolving mode, known as the most unstable streaky mode. Optimal streaks exhibit a still unexplored/unexploited approximate self-similarity (not associated with the boundary layer self-similarity), namely the streamwise velocity re-scaled with their maximum remains almost independent of both the spanwise wavenumber and the streamwise coordinate; the remaining two velocity components instead do not satisfy this property. The approximate self-similar behavior is analyzed here and exploited to further simplify the description of optimal streaks. In particular, it is shown that streaks can be approximately described in terms of the streamwise evolution of the scalar amplitudes of just three one-dimensional modes, providing the wall normal profiles of the streamwise velocity and two combinations of the cross flow velocity components; the scalar amplitudes obey a singular system of three ordinary differential equations (involving only two degrees of freedom), which approximates well the streamwise evolution of the general streaks.