Rectilinear Path Following in 3D Space

This paper addresses the problem of determining an optimal (shortest) path in three dimensional space for a constant speed and turn-rate constrained aerial vehicle, that would enable the vehicle to converge to a rectilinear path, starting from any arbitrary initial position and orientation. Based on 3D geometry, we propose an optimal and also a suboptimal path planning approach. Unlike the existing numerical methods which are computationally intensive, this optimal geometrical method generates an optimal solution in lesser time. The suboptimal solution approach is comparatively more efficient and gives a solution that is very close to the optimal one. Due to its simplicity and low computational requirements this approach can be implemented on an aerial vehicle with constrained turn radius to reach a straight line with a prescribed orientation as required in several applications. But, if the distance between the initial point and the straight line to be followed along the vertical axis is high, then the generated path may not be flyable for an aerial vehicle with limited range of flight path angle and we resort to a numerical method for obtaining the optimal solution. The numerical method used here for simulation is based on multiple shooting and is found to be comparatively more efficient than other methods for solving such two point boundary value problem.

Practical constant-accuracy linear weir

This paper is concerned with the modifications of the Extended Bellmouth Weir (EBM weir) earlier designed by Keshava Murthy. It is shown that by providing inclined sides (equivalent to providing an inward-trapezoidal weir) over a sector of a circle of radius R, separated by a distance 2t, and depth d, the measurable range of EBM can be considerably enhanced (over 375%). Simultaneously, the other parameters of the weir are optimized such that the reference plane of the weir coincides with its crest making it a constant-accuracy linear weir. Discharge through the aforementioned weir is proportional to the depths of flow measured above the crest of the weir for all heads in the range of 0.5R less-than-or-equal-to h less-than-or-equal-to 7.9R, within a maximum deviation of +/-1% from the theoretical discharge. Experiments with two typical weirs show excellent agreement with the theory by giving a constant-average coefficient of discharge of 0.619

Analysis of a long thick orthotropic circular cylindrical shell panel

An exact three-dimensional elasticity solution has been obtained for an infinitely long, thick transversely isotropic circular cylindrical shell panel, simply supported along the longitudinal edges and subjected to a radial patch load. Using a set of three displacement functions, the boundary value problem is reduced to Bessel's differential equation. Numerical results are presented for different thickness to mean radius ratios and semicentral angles of the shell panel. Classical and first-order shear deformation orthotropic shell theories have been examined in comparison with the present elasticity solution.

Scroll-Wave Dynamics in Human Cardiac Tissue: Lessons from a Mathematical Model with Inhomogeneities and Fiber Architecture

Cardiac arrhythmias, such as ventricular tachycardia (VT) and ventricular fibrillation (VF), are among the leading causes of death in the industrialized world. These are associated with the formation of spiral and scroll waves of electrical activation in cardiac tissue; single spiral and scroll waves are believed to be associated with VT whereas their turbulent analogs are associated with VF. Thus, the study of these waves is an important biophysical problem. We present a systematic study of the combined effects of muscle-fiber rotation and inhomogeneities on scroll-wave dynamics in the TNNP (ten Tusscher Noble Noble Panfilov) model for human cardiac tissue. In particular, we use the three-dimensional TNNP model with fiber rotation and consider both conduction and ionic inhomogeneities. We find that, in addition to displaying a sensitive dependence on the positions, sizes, and types of inhomogeneities, scroll-wave dynamics also depends delicately upon the degree of fiber rotation. We find that the tendency of scroll waves to anchor to cylindrical conduction inhomogeneities increases with the radius of the inhomogeneity. Furthermore, the filament of the scroll wave can exhibit drift or meandering, transmural bending, twisting, and break-up. If the scroll-wave filament exhibits weak meandering, then there is a fine balance between the anchoring of this wave at the inhomogeneity and a disruption of wave-pinning by fiber rotation. If this filament displays strong meandering, then again the anchoring is suppressed by fiber rotation; also, the scroll wave can be eliminated from most of the layers only to be regenerated by a seed wave. Ionic inhomogeneities can also lead to an anchoring of the scroll wave; scroll waves can now enter the region inside an ionic inhomogeneity and can display a coexistence of spatiotemporal chaos and quasi-periodic behavior in different parts of the simulation domain. We discuss the experimental implications of our study.

Thermodynamics of water entry in hydrophobic channels of carbon nanotubes

Experiments and computer simulations demonstrate that water spontaneously fills the hydrophobic cavity of a carbon nanotube. To gain a quantitative thermodynamic understanding of this phenomenon, we use the recently developed two phase thermodynamics method to compute translational and rotational entropies of confined water molecules inside single-walled carbon nanotubes and show that the increase in energy of a water molecule inside the nanotube is compensated by the gain in its rotational entropy. The confined water is in equilibrium with the bulk water and the Helmholtz free energy per water molecule of confined water is the same as that in the bulk within the accuracy of the simulation results. A comparison of translational and rotational spectra of water molecules confined in carbon nanotubes with that of bulk water shows significant shifts in the positions of the spectral peaks that are directly related to the tube radius. (C) 2011 American Institute of Physics.

Studies on BaO particles in nanosize regime

Barium oxide nanosize particles were prepared using the wet chemical route. Various capping agents were used to arrest the growth. X-ray diffraction studies reveal particle size as low as 9 Angstrom in diameter, which is close to the Bohr exciton radius of BaO. However, changes in the optical absorption features arising from the confinement effect in the nanosize regime were not observed. These results were confirmed by fluorescence measurements. The calculations based on effective mass approximations indicate that the quantum confinement effects are not significant for particle sizes as small as 15 Angstrom.

Flow induced by an asymmetrically placed disk rotating coaxially inside a cylindrical casing

In this paper, the flow due to a rotating disk non-symmetrically placed with respect to the height of the enclosing stationary cylinder is analyzed numerically. The full Navier-Stokes equations expressed in terms of stream function and vorticity are solved by successive over-relaxation for different disk radii, its distance from the bottom casing and rotational Reynolds numbers. It is observed that the flow pattern is strongly influenced by the size and the position of the disk. When the disk is very close to the top casing and small in radius, there are two regions of different scales and the vortices in the region of small scale are trapped between the disk and the top casing. Further, the variation of the moment coefficient is determined for different positions and sizes of the rotating disk. The calculations shows that the frictional torque increases rapidly, when the disk approaches the top casing. This finding is of importance for the design of vertical rotating disk reactors applied in chemical vapor deposition.

Swing amplification of nonaxisymmetric perturbations in stars and gas in a sheared galactic disk

We present a study of the growth of local, nonaxisymmetric perturbations in gravitationally coupled stars and gas in a differentially rotating galactic disk. The stars and gas are treated as two isothermal fluids of different velocity dispersions, with the stellar velocity dispersion being greater than that for the gas. We examine the physical effects of inclusion of a low-velocity dispersion component (gas) on the growth of non-axisymmetric perturbations in both stars and gas, as done for the axisymmetric case by Jog & Solomon. The amplified perturbations in stars and gas constitute trailing, material, spiral features which may be identified with the local spiral features seen in all spiral galaxies. The formulation of the two-fluid equations closely follows the one-fluid treatment by Goldreich & Lynden-Bell. The local, linearized perturbation equations in the sheared frame are solved to obtain the results for a temporary growth via swing amplification. The problem is formulated in terms of five dimensionless parameters-namely, the Q-factors for stars and gas, respectively; the gas mass fraction; the shearing rate in the galactic disk; and the length scale of perturbation. By using the observed values of these parameters, we obtain the amplifications and the pitch angles for features in stars and gas for dynamically distinct cases, as applicable for different regions of spiral galaxies. A real galaxy consisting of stars and gas may display growth of nonaxisymmetric perturbations even when it is stable against axisymmetric perturbations and/or when either fluid by itself is stable against non-axisymmetric perturbations. Due to its lower velocity dispersion, the gas exhibits a higher amplification than do the stars, and the amplified gas features are slightly more tightly wound than the stellar features. When the gas contribution is high, the stellar amplification and the range of pitch angles over which it can occur are both increased, due to the gravitational coupling between the two fluids. Thus, the two-fluid scheme can explain the origin of the broad spiral arms in the underlying old stellar populations of galaxies, as observed by Schweizer and Elmegreen & Elmegreen. The arms are predicted to be broader in gas-rich galaxies, as is indeed seen for example in M33. In the linear regime studied here, the arm contrast is shown to increase with radius in the inner Galaxy, in agreement with observations of external galaxies by Schweizer. These results follow directly due to the inclusion of gas in the problem.

Stability of the viscous flow of a fluid through a flexible tube

The stability of the Hagen-Poiseuille flow of a Newtonian fluid in a tube of radius R surrounded by an incompressible viscoelastic medium of radius R < r < HR is analysed in the high Reynolds number regime. The dimensionless numbers that affect the fluid flow are the Reynolds number Re = (rho VR/eta), the ratio of the viscosities of the wall and fluid eta(r) = (eta(s)/eta), the ratio of radii H and the dimensionless velocity Gamma = (rho V-2/G)(1/2). Here rho is the density of the fluid, G is the coefficient of elasticity of the wall and V is the maximum fluid velocity at the centre of the tube. In the high Reynolds number regime, an asymptotic expansion in the small parameter epsilon = (1/Re) is employed. In the leading approximation, the viscous effects are neglected and there is a balance between the inertial stresses in the fluid and the elastic stresses in the medium. There are multiple solutions for the leading-order growth rate s((0)), all of which are imaginary, indicating that the fluctuations are neutrally stable, since there is no viscous dissipation of energy or transfer of energy from the mean flow to the fluctuations due to the Reynolds stress. There is an O(epsilon(1/2)) correction to the growth rate, s((1)), due to the presence of a wall layer of thickness epsilon(1/2)R where the viscous stresses are O(epsilon(1/2)) smaller than the inertial stresses. An energy balance analysis indicates that the transfer of energy from the mean flow to the fluctuations due to the Reynolds stress in the wall layer is exactly cancelled by an opposite transfer of equal magnitude due to the deformation work done at the interface, and there is no net transfer from the mean flow to the fluctuations. Consequently, the fluctuations are stabilized by the viscous dissipation in the wall layer, and the real part of s(1) is negative. However, there are certain values of Gamma and wavenumber k where s((1)) = 0. At these points, the wall layer amplitude becomes zero because the tangential velocity boundary condition is identically satisfied by the inviscid flow solution. The real part of the O(epsilon) correction to the growth rate s((2)) turns out to be negative at these points, indicating a small stabilizing effect due to the dissipation in the bulk of the fluid and the wall material. It is found that the minimum value of s((2)) increases proportional to (H-1)(-2) for (H-1) much less than 1 (thickness of wall much less than the tube radius), and decreases proportional to H-4 for H much greater than 1. The damping rate for the inviscid modes is smaller than that for the viscous wall and centre modes in a rigid tube, which have been determined previously using a singular perturbation analysis. Therefore, these are the most unstable modes in the flow through a flexible tube

Stability of the viscous flow of a fluid through a flexible tube

The stability of Hagen-Poiseuille flow of a Newtonian fluid of viscosity eta in a tube of radius R surrounded by a viscoelastic medium of elasticity G and viscosity eta(s) occupying the annulus R < r < HR is determined using a linear stability analysis. The inertia of the fluid and the medium are neglected, and the mass and momentum conservation equations for the fluid and wall are linear. The only coupling between the mean flow and fluctuations enters via an additional term in the boundary condition for the tangential velocity at the interface, due to the discontinuity in the strain rate in the mean flow at the surface. This additional term is responsible for destabilizing the surface when the mean velocity increases beyond a transition value, and the physical mechanism driving the instability is the transfer of energy from the mean flow to the fluctuations due to the work done by the mean flow at the interface. The transition velocity Gamma(t) for the presence of surface instabilities depends on the wavenumber k and three dimensionless parameters: the ratio of the solid and fluid viscosities eta(r) = (eta(s)/eta), the capillary number Lambda = (T/GR) and the ratio of radii H, where T is the surface tension of the interface. For eta(r) = 0 and Lambda = 0, the transition velocity Gamma(t) diverges in the limits k much less than 1 and k much greater than 1, and has a minimum for finite k. The qualitative behaviour of the transition velocity is the same for Lambda > 0 and eta(r) = 0, though there is an increase in Gamma(t) in the limit k much greater than 1. When the viscosity of the surface is non-zero (eta(r) > 0), however, there is a qualitative change in the Gamma(t) vs. k curves. For eta(r) < 1, the transition velocity Gamma(t) is finite only when k is greater than a minimum value k(min), while perturbations with wavenumber k < k(min) are stable even for Gamma--> infinity. For eta(r) > 1, Gamma(t) is finite only for k(min) < k < k(max), while perturbations with wavenumber k < k(min) or k > k(max) are stable in the limit Gamma--> infinity. As H decreases or eta(r) increases, the difference k(max)- k(min) decreases. At minimum value H = H-min, which is a function of eta(r), the difference k(max)-k(min) = 0, and for H < H-min, perturbations of all wavenumbers are stable even in the limit Gamma--> infinity. The calculations indicate that H-min shows a strong divergence proportional to exp (0.0832 eta(r)(2)) for eta(r) much greater than 1.

Geometrically Simple Logarithmic Weir

This paper discusses the design and experimental verification of a geometrically simple logarithmic weir. The weir consists of an inward trapezoidal weir of slope 1 horizontal to n vertical, or 1 in n, over two sectors of a circle of radius R and depth d, separated by a distance 2t. The weir parameters are optimized using a numerical optimization algorithm. The discharge through this weir is proportional to the logarithm of head measured above a fixed reference plane for all heads in the range 0.23R less than or equal to h less than or equal to 3.65R within a maximum deviation of +/-2% from the theoretical discharge. Experiments with two weirs show excellent agreement with the theory by giving a constant average coefficient of discharge of 0.62. The application of this weir to the field of irrigation, environmental, and chemical engineering is highlighted.

Charge-ordering in manganates

Ordering of Mn3+ and Mn4+ ions occurs in the rare earth manganates of the general composition Ln(1-x)A(x)MnO(3) (Ln rare earth, A = Ca, Sr). Such charge-ordering is associated with antiferromagnetic and insulating properties. This phenomenon is to be contrasted with the ferromagnetic metallic behavior that occurs when double-exchange between the Mn3+ and Mn4+ ions predominates. Two distinct types of charge-ordering can be delineated. In one, a ferromagnetic metallic (FMM) state transforms to the charge-ordered (CO) state on cooling. In the other scenario, the CO state is found in the paramagnetic ground stale and there is no ferromagnetism down to the lowest temperatures. Magnetic fields transform the CO state to the FMM state, when the average radius of the A-site cations is sufficiently large ([r(A)] > 1.17 Angstrom). Chemical melting of the CO state by Cr3+ substitution in the Mn site is also found only when [r(A)] greater than or similar to 1.17 Angstrom. The effect of the size of the A-cations on the Mn-O-Mn angle is not enough to explain the observed variations of the charge-ordering temperature as well as the ferromagnetic Curie temperature T-c. An explanation based on a competition between the Mn and A-cation orbitals for sigma-bonding with the oxygen rho(sigma) orbitals is considered to account for the large changes in T-c and hence the true bandwidth, with [r(A]). Effects of radiation, electric field, and other factors on the CO state are discussed along with charge-ordering in other manganate systems. Complex phase transitions, accompanied by changes in electronic and magnetic properties, occur in manganates with critical values of(rA) Or bandwidth. Charge-ordering is found in layered manganates, BixCa1-xMnO3 and CaMnO3-delta.

Common underlying steering curves for motorcycles in steady turns

We study the steady turn behaviours of some light motorcycle models on circular paths, using the commercial software package ADAMS-Motorcycle. Steering torque and steering angle are obtained for several path radii and a range of steady forward speeds. For path radii much greater than motorcycle wheelbase, and for all motorcycle parameters including tyre parameters held fixed, dimensional analysis can predict the asymptotic behaviour of steering torque and angle. In particular, steering torque is a function purely of lateral acceleration plus another such function divided by path radius. Of these, the first function is numerically determined, while the second is approximated by an analytically determined constant. Similarly, the steering angle is a function purely of lateral acceleration, plus another such function divided by path radius. Of these, the first is determined numerically while the second is determined analytically. Both predictions are verified through ADAMS simulations for various tyre and geometric parameters. In summary, steady circular motions of a given motorcycle with given tyre parameters can be approximately characterised by just one curve for steering torque and one for steering angle.

Lopsidedness in WHISP galaxies I. Rotation curves and kinematic lopsidedness

The frequently observed lopsidedness of the distribution of stars and gas in disc galaxies is still considered as a major problem in galaxy dynamics. It is even discussed as an imprint of the formation history of discs and the evolution of baryons in dark matter haloes. Here, we analyse a selected sample of 70 galaxies from the Westerbork Hi Survey of Spiral and Irregular Galaxies. The Hi data allow us to follow the morphology and the kinematics out to very large radii. In the present paper, we present the rotation curves and study the kinematic asymmetry. We extract the rotation curves of the receding and approaching sides separately and show that the kinematic behaviour of disc galaxies can be classified into five different types: symmetric velocity fields where the rotation curves of the receding and approaching sides are almost identical; global distortions where the rotation velocities of the receding and approaching sides have an offset that is constant with radius; local distortions leading to large deviations in the inner and negligible deviations in the outer parts (and vice versa); and distortions that divide the galaxies into two kinematic systems that are visible in terms of the different behaviour of the rotation curves of the receding and approaching sides, which leads to a crossing and a change in side. The kinematic lopsidedness is measured from the maximum rotation velocities, averaged over the plateau of the rotation curves. This gives a good estimate of the global lopsidedness in the outer parts of the sample galaxies. We find that the mean value of the perturbation parameter denoting the lopsided potential as obtained from the kinematic data is 0.056. Altogether, 36% of the sample galaxies are globally lopsided, which can be interpreted as the disc responding to a halo that was distorted by a tidal encounter. In Paper II, we study the morphological lopsidedness of the same sample of galaxies.

Lopsidedness in WHISP galaxies II. Morphological lopsidedness

The distribution of stars and gas in many galaxies is asymmetric. This so-called lopsidedness is expected to significantly affect the dynamics and evolution of the disc, including the star formation activity. Here, we measure the degree of lopsidedness for the gas distribution in a selected sample of 70 galaxies from the Westerbork Hi Survey of Spiral and Irregular Galaxies. This complements our earlier work (Paper I) where the kinematic lopsidedness was derived for the same galaxies. The morphological lopsidedness is measured by performing a harmonic decomposition of the surface density maps. The amplitude of lopsidedness A(1), the fractional value of the first Fourier component, is typically quite high (about 0.1) within the optical disc and has a constant phase. Thus, lopsidedness is a common feature in galaxies and indicates a global mode. We measure A(1) out to typically one to four optical radii, sometimes even further. This is, on average, four times larger than the distance to which lopsidedness was measured in the past using near-IR as a tracer of the old stellar component, and therefore provides a new, more stringent constraint on the mechanism for the origin of lopsidedness. Interestingly, the value of A(1) saturates beyond the optical radius. Furthermore, the plot of A(1) versus radius shows fluctuations that we argue are due to local spiral features. We also try to explain the physical origin of this observed disc lopsidedness. No clear trend is found when the degree of lopsidedness is compared to a measure of the isolation or interaction probability of the sample galaxies. However, this does not rule out a tidal origin if the lopsidedness is long-lived. In addition, we find that the early-type galaxies tend to be more morphologically lopsided than the late-type galaxies. Both results together indicate that lopsidedness has a tidal origin.