Generalization of the collision cone approach for motion safety in 3-D environments

Avoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion based avoidance strategies.

Effect of Interfacial Microstructure of Adsorbed Poly(ethylene glycol) Monooleate on Steel Substrate on Sliding Friction in Oil in Water Emulsion

The concentration of a nonionic surfactant and water pH were varied in an oil-in-water emulsion to minimize the friction coefficient between a steel ball sliding on a steel flat. At a surfactant concentration near the CMC (critical micelle concentration) the oil droplet size was found to be minimum. In this paper we study the microstructure of the surfactant molecules self-assembled on the steel substrate in water to comment on the ability of the surfactant aggregate to attract and retain oil. We find that a near semicylindrical hemimiceller microstructure with hydrocarbon tails projecting into bulk water as obtained at CMC in near neutral water is best able to capture and retain oil in yielding a low coefficient of friction.

Spreading and atomization of droplets on a vibrating surface in a standing pressure field

We report the first observation and analytical model of deformation and spreading of droplets on a vibrating surface under the influence of an ultrasonic standing pressure field. The standing wave allows the droplet to spread, and the spreading rate varies inversely with viscosity. In low viscosity droplets, the synergistic effect of radial acoustic force and the transducer surface acceleration also leads to capillary waves. These unstable capillary modes grow to cause ultimate disintegration into daughter droplets. We find that using nanosuspensions, spreading and disintegration can be prevented by suppressing the development of capillary modes and subsequent break-up. (C) 2012 American Institute of Physics. http://dx.doi.org/10.1063/1.4757567]

Caryophyllene-Rich Essential Oil of Didymocarpus tomentosa: Chemical Composition and Cytotoxic Activity

The essential oil from the leaves of Didymocarpus tomentosa was extracted by hydrodistillation and analyzed by GC/FID and GC/MS. Twenty five constituents amounting to 81.6% of the oil were identified. The leaf oil contained 78.7% sesquiterpenes and 2.9% monoterpenes. The leaf essential oil of D. tomentosa is a unique caryophyllene-rich natural source containing beta-caryophyllene, caryophyllene oxide, alpha-humulene and humulene oxide. The cytotoxic activity of the oil was determined by the BSLT using shrimp larva and the MTT assay using HeLa tumor cell line. The oil showed significant cytotoxic activity with LC50 and IC50 values of 12.26 and 11.4 mu g/mL, respectively. This is the first report on the chemical composition and cytotoxic activity of the essential oil of D. tomentosa.

Velocity and rotation measurements in acoustically levitated droplets

The velocity scale inside an acoustically levitated droplet depends on the levitator and liquid properties. Using Particle Imaging Velocimetry (PIV), detailed velocity measurements have been made in a levitated droplet of different diameters and viscosity. The maximum velocity and rotation are normalized using frequency and amplitude of acoustic levitator, and droplet viscosity. The non-dimensional data are fitted for micrometer- and millimeter-sized droplets levitated in different levitators for different viscosity fluids. It is also shown that the rotational speed of nanosilica droplets at an advanced stage of vaporization compares well with that predicted by exponentially fitted parameters. (C) 2012 Elsevier B.V. All rights reserved.

Grafting of Dispersants on MoS2 Nanoparticles in Base Oil Lubrication of Steel

Solid lubricant nanoparticles in suspension in oil are good lubricating options for practical machinery. In this article, we select a range of dispersants, based on their polar moieties, to suspend 50-nm molybdenum disulfide particles in an industrial base oil. The suspension is used to lubricate a steel on steel sliding contact. A nitrogen-based polymeric dispersant (aminopropyl trimethoxy silane) with a free amine group and an oxygen-based polymeric dispersant (sorbital monooleate) when grafted on the particle charge the particle negatively and yield an agglomerate size which is almost the same as that of the original particle. Lubrication of the contact by these suspensions gives a coefficient of friction in the similar to 0.03 range. The grafting of these surfactants on the particle is shown here to be of a chemical nature and strong as the grafts survive mechanical shear stress in tribology. Such grafts are superior to those of other silane-based test surfactants which have weak functional groups. In the latter case, the particles bereft of strong grafts agglomerate easily in the lubricant and give a coefficient of friction in the 0.08-0.12 range. This article investigates the mechanism of frictional energy dissipation as influenced by the chemistry of the surfactant molecule.

Vaporization dynamics of functional droplets in a hot laminar air jet

The vaporization characteristics of pendant droplets of various chemical compositions (like conventional fuels, alternative fuels and nanosuspensions) subjected to convective heating in a laminar air jet have been analyzed. Different heating conditions were achieved by controlling the air temperature and velocity fields around the droplet. A hybrid timescale has been proposed which incorporates the effects of latent heat of vaporization, saturation vapor pressure and thermal diffusivity. This timescale in essence encapsulates the different parameters that influence the droplet vaporization rate. The analysis further permits the evaluation of the effect of various parameters such as surrounding temperature, Reynolds number, far-field vapor presence, impurity content and agglomeration dynamics (nanosuspensions) in the droplet. Flow visualization has been carried out to understand the role of internal recirculation on the vaporization rate. The visualization indicates the presence of a single vortex cell within the droplet on account of the rotation and oscillation of the droplet due to aerodynamic load. External heating induced agglomeration in nanofluids leads to morphological changes during the vaporization process. These morphological changes and alteration in vaporization behavior have been assessed using high speed imaging of the diameter regression and Scanning Electron Microscopy images of the resultant precipitate. (C) 2012 Elsevier Ltd. All rights reserved.

Studies on the Aging Characteristics of Base Oil with Amine Based Antioxidant in Steel-on-Steel Lubricated Sliding

An industrial base oil, a blend of different paraffin fractions, is heated to 130 degrees C (1) in the ambient and (2) for use as a lubricant in a steel pin on a steel disk sliding experiment. The base oil was tested with and without test antioxidants: dimethyl disulfide (DMDS) and alkylated diphenylamine (ADPA). Primary and secondary oxidation products were monitored continuously by FTIR over a 100 h period. In addition, friction and wear of the steel pin were monitored over the same period and the chemical transformation of the pin surface was monitored by XPS. The objective of this work is to observe the catalytic action of the steel components on the oil aging process and the efficacy of the antioxidant to reduce oxidation of oil used in tribology as a lubricant. Possible mechanistic explanations of the aging process as well as its impact on friction and wear are discussed.

On the dynamic contact angle in simulation of impinging droplets with sharp interface methods

Effects of dynamic contact angle models on the flow dynamics of an impinging droplet in sharp interface simulations are presented in this article. In the considered finite element scheme, the free surface is tracked using the arbitrary Lagrangian-Eulerian approach. The contact angle is incorporated into the model by replacing the curvature with the Laplace-Beltrami operator and integration by parts. Further, the Navier-slip with friction boundary condition is used to avoid stress singularities at the contact line. Our study demonstrates that the contact angle models have almost no influence on the flow dynamics of the non-wetting droplets. In computations of the wetting and partially wetting droplets, different contact angle models induce different flow dynamics, especially during recoiling. It is shown that a large value for the slip number has to be used in computations of the wetting and partially wetting droplets in order to reduce the effects of the contact angle models. Among all models, the equilibrium model is simple and easy to implement. Further, the equilibrium model also incorporates the contact angle hysteresis. Thus, the equilibrium contact angle model is preferred in sharp interface numerical schemes.

Insight into morphology changes of nanoparticle laden droplets in acoustic field

Hollow structures with unique morphologies form due to particle agglomeration in acoustically levitated nanofluid functional droplets when subjected to external heating. The final diameter of the structure depends only on the ratio of agglomeration to evaporation time scales for various nanoparticle laden droplets, and not on the type of the suspended particles. These time scales depend only on nanoparticle concentration. This valuable information may be exploited to form microstructures with desired properties from ceramic compounds. Phase diagrams for alumina and silica droplets indicate the transition from a bowl to ring structure depending on concentration.

Measurement of temperature and pressure on the surface of a blunt cone using FBG sensor in hypersonic wind tunnel

Measurement of temperature and pressure exerted on the leeward surface of a blunt cone specimen has been demonstrated in the present work in a hypersonic wind tunnel using fiber Bragg grating (FBG) sensors. The experiments were conducted on a 30 degrees apex-angle blunt cone with 51 mm base diameter at wind flow speeds of Mach 6.5 and 8.35 in a 300 mm hypersonic wind tunnel of Indian Institute of Science, Bangalore. A special pressure insensitive temperature sensor probe along with the conventional bare FBG sensors was used for explicit temperature and aerodynamic pressure measurement respectively on the leeward surface of the specimen. computational fluid dynamics (CFD) simulation of the flow field around the blunt cone specimen has also been carried out to obtain the temperature and pressure at conditions analogous to experiments. The results obtained from FBG sensors and the CFD simulations are found to be in good agreement with each other.

FLOTATION OF QUARTZ WITH SOAPS OF BOMBAX MALABARICA OIL AND SHARK LIVER OIL AS COLLECTORS

An attempt has been made to use the indigeneous oils-Bombax Malabarica oil and Shark liver oil in the form of sodium soaps as collectors in the flotation of quartz using barium chloride as activator. The effect of pH, collector concentration and activator concentration on the flotation of quartz is studied in a Leaf and knoll flotation cell. The experiments show that it is possible to obtain 98.0 per cent of quartz as float using 10 mg. of Bombax. Malabarica oil and Shark liver oil soaps at pH values of more than 7.0 and when barium ion concentration is in excess of that required to form barium soaps. Bombax Malabarica oil is found to be superior to Shark liver oil as collector in the flotation of quartz.

Moisture Aided Degradation of Oil Impregnated Paper Insulation in Power Transformers

The presence of moisture in oil impregnated paper insulation (OIP) is detrimental to its long time performance. Until recently, it was thought insulation ageing was only a function of temperature and electrical stress. It has now been realized that moisture in all its forms causes rapid degradation of the electrical and mechanical properties with time. In this study, insulation paper samples were conditioned for desired level of moisture and were impregnated with premium quality transformer oil. The oil impregnated samples with 1 to 3 % moisture content were aged at 90 to 130 C. The indices for determining the extent of ageing considered in this work are degree of polymerization (DP), furan, carbon monoxide and carbon dioxide content. These quantities were monitored throughout the ageing experimental run. End-of-life (EOL) criterion used here is the reduction in the value of DP. Phenomenological models for estimating the service life of insulation are proposed and are validated against actual experimental data.

Insight into instabilities in burning droplets

The complex multiscale physics of nano-particle laden functional droplets in a reacting environment is of fundamental and applied significance for a wide variety of applications ranging from thermal sprays to pharmaceutics to modern day combustors using new brands of bio-fuels. Formation of homogenous nucleated bubbles at the superheat limit inside vaporizing droplets (with or without nanoparticles) represents an unstable system. Here we show that self-induced boiling in burning functional pendant droplets can produce severe volumetric shape oscillations. Internal pressure build-up due to ebullition activity ejects bubbles from the droplet domain causing undulations on the droplet surface and oscillations in bulk. Through experiments, we establish that the degree of droplet deformation depends on the frequency and intensity of these bubble expulsion events. In a distinct regime of single isolated bubble residing in the droplet, however, pre-ejection transient time is identified by Darrieus-Landau evaporative instability, where bubble-droplet system behaves as a synchronized driver-driven system with bulk bubble-shape oscillations being imposed on the droplet. The agglomeration of nanophase additives modulates the flow structures within the droplet and also influences the bubble inception and growth leading to different levels of instabilities. (C) 2014 AIP Publishing LLC.