Biological application of multi-component nanowires in hybrid devices powered by F-1-ATPase motors

In this paper, construction of hybrid device by integrating nanowires with F1-ATPase motors is described. The nickel nanowires and multi-segment nanowires, including gold and nickel, were fabricated by electrochemical deposition in nanoporous templates. The nickel nanowires functionalized by biotinylated peptide can be assembled directly onto F1-ATPase motors to act as the propellers. If the multicomponent nanowires, including gold and nickel, were selectively functionalized by the thiol group modified ssDNA and the synthetic peptide, respectively, the biotinylated F1- ATPase motors can be attached to the biotinylated peptide on nickel segment of the nanowires. Then, the multi-component nanowires can also be used as the propellers, and one may observe the rotations of the multi-component nanowires driven by F1-ATPase motors. Therefore, introduction of multiple segments along the length of a nanowire can lead to a variety of multiple chemical functionalities, which can be selectively bound to cells and special biomolecules. This method provides an insight for the construction of other hybrid devices with its controlling arrangement of different biomolecule on designed nanometer scale structures.

Trawling Operations and South African (Cape) Fur Seals, Arctocephalus pusillus pusillus

South African (Cape) fur seals, Arctocephalus pusillus pusillus, interact with the South African trawl fisheries-offshore demersal, inshore demersal, and midwater fisheries. These interactions take thef ollowing forms: Seals take or damage netted fish, on particular vessels they become caught in the propeller, seals drown in the nets, live seals come aboard and may be killed. Except in specific cases of seals damaging particular trawler propellers, interactions result in little cost to the offshore and midwater trawl fisheries. For the inshore fishery, seals damage fish in the net at an estimated cost in excess of R69, 728 (US$18,827) per year, but this is negligible (0.3%) in terms ofthe value of the fishery. Seal mortality is mainly caused by drowning in trawl nets and ranges from 2,524 to 3,636 seals of both sexes per year. Between 312 and 567 seals are deliberately killed annually, but this most likely takes place only when caught and they enter the area below deck, where they are difficult to remove, and pose a potential threat to crew safety. Overall, seal mortality during trawling operations is negligible (0.4-0.6%) in terms of the feeding population of seals in South Africa.

Contra-rotating open rotor operation for improved aerodynamics and noise at takeoff

The contra-rotating open rotor is, once again, being considered as an alternative to the advanced turbofan to address the growing pressure to cut aviation fuel consumption and carbon dioxide emissions. One of the key challenges is meeting community noise targets at takeoff. Previous open rotor designs are subject to poor efficiency at takeoff due to the presence of large regions of separated flow on the blades as a result of the high incidence needed to achieve the required thrust. This is a consequence of the fixed rotor rotational speed constraint typical of variable pitch propellers. Within the study described in this paper, an improved operation is proposed to improve performance and reduce rotorrotor interaction noise at takeoff. Three-dimensional computational fluid dynamics (CFD) calculations have been performed on an open rotor rig at a range of takeoff operating conditions. These have been complemented by analytical tone noise predictions to quantify the noise benefits of the approach. The results presented show that for a given thrust, a combination of reduced rotor pitch and increased rotor rotational speed can be used to reduce the incidence onto the front rotor blades. This is shown to eliminate regions of flow separation, reduce the front rotor tip loss and reduce the downstream stream tube contraction. The wakes from the front rotor are also made wider with lower velocity defect, which is found to lead to reduced interaction tone noise. Unfortunately, the necessary increase in blade speed leads to higher relative Mach numbers, which can increase rotor alone noise. In summary, the combined CFD and aero-acoustic analysis in this paper shows how careful operation of an open rotor at takeoff, with moderate levels of re-pitch and speed increase, can lead to improved front rotor efficiency as well as appreciably lower overall noise across all directivities. Copyright © 2011 by ASME.

Propulsion characteristics of wing-in-ground effect dual-foil propulsors

Propulsion characteristics of wing-in-ground effect propulsors were investigated using a comparative analysis of thrust and powering characteristics between wing-in-ground (WIG) effect thrusters and traditional screw propellers. WIG thrusters were found to have constant thrust production and efficiency, nearly independent of speed of advance, as contrary to screw propellers, whose optimum efficiency occurs at only one speed point. To produce the same amount of thrust as equivalent screw propellers, WIG thrusters have to work under heavily loaded operating conditions. WIG thrusters were also found to produce a relatively lower but nearly constant efficiency and thrust, independent of speed. Another distinguishing propulsion characteristic revealed for WIG thrusters is that they are capable of operating at much higher speeds, in a range of three to six times that of screw propellers of the same size. While the speed range of screw propellers is mainly limited by their geometric pitch, the speed range of WIG thrusters has no speed limit in ideal fluid. In reality, the speed range is only limited by viscous drag and cavitation, or compressibility, in water or air, respectively. This suggests a potential for WIG thrusters of higher speed application than screw propellers. An experimental investigation and validation of the propulsion system is warranted. Crown Copyright (C) 2010 Published by Elsevier Ltd. All rights reserved.

轮桨腿一体两栖机器人爬行步态规划研究

爬行运动为轮桨腿一体两栖机器人基本运动模式之一。以机器人爬行运动为研究对象，分析了两栖机器人爬行运动机理，并建立了其典型驱动单元的运动学模型；根据机器人不同爬行运动状态，提出了基于轮桨和足板不同步态形式的运动规划策略；采用虚拟样机技术，对不同爬行状态下的步态规划效果进行了仿真试验分析和验证。试验结果表明，在规划的步态下，轮桨腿一体两栖机器人具有良好的爬行稳定性、转向机动性和越障能力。

UUV推进系统容错控制分配算法研究

针对水下机器人(UUV)推进系统容错控制分配问题,本文提出了基于SVD分解(奇异值分解)与定点分配的混合算法。与传统的方法相比,它回避了求伪逆矩阵的问题,降低了计算量;能够满足推进器饱和约束限制。利用水下实验平台推进系统模型进行了仿真实验,验证了算法的正确性和有效性。

Semi-empirical methods for determining the efflux velocity from a ship's propeller

The present study proposed the semi-empirical methods for determining the efflux velocity from a ship's propeller. Ryan [1] defined the efflux velocity as the maximum velocity taken from a time-averaged velocity distribution along the initial propeller plane. The Laser Doppler Anemometry (LDA) and Computational Fluid Dynamics (CFD) were used to acquire the efflux velocity from the two propellers with different geometrical characteristics. The LDA and CFD results were compared in order to investigate the equation derived from the axial momentum theory. The study confirmed the validation of the axial momentum theory and its linear relationship between the efflux velocity and the multiplication of the rotational speed, propeller diameter and the square root of thrust coefficient. The linear relationship of these two terms is connected by an efflux coefficient and the value of this efflux coefficient reduced when the blade number increased.

3D Efflux Velocity Characteristics of Marine Propeller Jets

The determination of the efflux velocity is key to the process of calculating the subsequent value of velocity at any other location within a propeller jet. This paper reports on the findings of an experimental investigation into the magnitude of the efflux velocities within the jets produced by four differing propellers. Measurements of velocity have been made using a 3D LDA system with the test propellers operating at a range of rotational speeds which bound typical operational values. Comparisons are made with existing predictive theories and to aid design engineers, methods are presented by which the 3D efflux velocity components, as well as the resultant efflux value, can be determined.

Predicting axial velocity profiles within a diffusing marine propeller jet

A full understanding of the hydrodynamic processes within the jet produced by a manoeuvring ship’s propeller is essential in the development and maintenance of ports, docks and harbours. In this study the predominant axial velocity component of a diffusing propeller jet was studied. The flow fields formed by four propellers, each operating at four power levels (speeds of rotation), were investigated under bollard pull conditions within a large free surface tank using Laser Doppler Anemometry. Comparison were made to existing methodologies by which a prediction of the magnitudes of the axial velocity can be made, and where deficient modifications to the methodologies have been developed. The jets were found to produce a maximum axial velocity along the initial efflux plane at a location near the blade mid-span. The position and magnitude of the axial velocity was seen to decrease as the jet entrained more flow and transitioned from the zone of flow establishment into the zone of established flow.

Energy optimisation studies in trawling operations along the Kerala coast

This study mainly deals with the structure of the motorised and mechanised trawl fishing fleet of Kerala, and assess the availability of resources and its extent of exploitation. The study is conducted by observing the performance of small motorised boats operating trawl nets from selected centers along the Kerala coast. The Study also deals with the type and material of construction of the propellers used in selected crafts and the efficiency of the propeller. The fuel consumption pattern of selected medium sized trawlers economics of operation of selected fishing crafts are analyzed through this study. The thesis also Suggest methods for reducing fuel consumption in trawling

Controle de posição com restrição à orientação de um Veículo Aéreo Não-Tripulado tipo Quadrirrotor

Quadrotors aircraft are composed by four propellers mounted on four engines on a cross or x disposition, and, in this structure, the engines on the same arm spin in the same direction and the other arm in the opposite direction. By rotating each helix generates vertical upward thrust. The control is done by varying the rotational speed of each motor. Among the advantages of this type of vehicle can cite the mechanical simplicity of construction, the high degree of maneuverability and the ability to have vertical takeoffs and landings. The modeling and control of quadrirrotores have been a challenge due to problems such as nonlinearity and coupling between variables. Several strategies have been developed to control this type of vehicle, from the classical control to modern. There are air surveillance applications where a camera is fixed on the vehicle to point forward, where it is desired that the quadrotor moves at a fixed altitude toward the target also pointing forward, which imposes an artificial constraint motion, because it is not desired that it moves laterally, but only forwards or backwards and around its axes . This restriction is similar to the naturally existing on robots powered by wheels with differential drive, which also can not move laterally, due to the friction of the wheels. Therefore, a position control strategy similar to that used in this type of robot could be adapted for aerial robots like quadrotor. This dissertation presents and discusses some strategies for the control of position and orientation of quadrotors found in the literature and proposes a strategy based on dynamic control of mobile robots with differential drive, called the variable reference control. The validity of the proposed strategy is demonstrated through computer simulations

Moonlets wandering on a leash-ring

Since the Voyager flybys, embedded moonlets have been proposed to explain some of the surprising structures observed in Saturn's narrow F ring. Experiments conducted with the Cassini spacecraft support this suggestion. Images of the F ring show bright compact spots, and seven occultations of stars by the F ring, monitored by ultraviolet and infrared experiments, revealed nine events of high optical depth. These results point to a large number of such objects, but it is not clear whether they are solid moonlets or rather loose particle aggregates. Subsequent images suggested an irregular motion of these objects so that a determination of their orbits consistent with the F ring failed. Some of these features seem to cross the whole ring. Here we show that these observations are explained by chaos in the F ring driven mainly by the 'shepherd' moons Prometheus and Pandora. It is characterized by a rather short Lyapunov time of about a few hundred orbital periods. Despite this chaotic diffusion, more than 93 per cent of the F-ring bodies remain confined within the F ring because of the shepherding, but also because of a weak radial mobility contrasted by an effective longitudinal diffusion. This chaotic stirring of all bodies involved prevents the formation of 'propellers' typical of moonlets, but their frequent ring crossings explain the multiple radial 'streaks' seen in the F ring. The related 'thermal' motion causes more frequent collisions between all bodies which steadily replenish F-ring dust and allow for ongoing fragmentation and re-accretion processes (ring recycling).

On the control of vibrations using synchrophasing

This paper describes the application of a technique, known as synchrophasing, to the control of machinery vibration. It is applicable to machinery installations, in which several synchronous machines, such as those driven by electrical motors, are fitted to an isolated common structure known as a machinery raft. To reduce the vibration transmitted to the host structure to which the machinery raft is attached, the phase of the electrical supply to the motors is adjusted so that the net transmitted force to the host structure is minimised. It is shown that while this is relatively simple for an installation consisting of two machines, it is more complicated for installations in which there are more than two machines, because of the interaction between the forces generated by each machine. The development of a synchrophasing scheme, which has been applied to propeller aircraft, and is known as Propeller Signature Theory (PST) is discussed. It is shown both theoretically and experimentally, that this is an efficient way of controlling the phase of multiple machines. It is also shown that synchrophasing is a worthwhile vibration control technique, which has the potential to suppress vibration transmitted to the host structure by up to 20 dB at certain frequencies. Although the principle of synchronisation has been demonstrated on a one-dimensional structure, it is believed that this captures the key features of the approach. However, it should be realised that the mode-shapes of a machinery raft may be more complex than that of a one-dimensional structure and this may need to be taken into account in a real application. © 2013 Elsevier Ltd.

As formas do medo em Grande Sertões : Veredas

Pós-graduação em Estudos Literários - FCLAR

Effect of a propeller duct on AUV maneuverability

A number of autonomous underwater vehicles, AUV, are equipped with commercial ducted propellers, most of them produced originally for the remote operated vehicle, ROV, industry. However, AUVs and ROVs are supposed to work quite differently since the ROV operates in almost the bollard pull condition, while the AUV works at larger cruising speeds. Moreover, they can have an influence in the maneuverability of AUV due to the lift the duct generates in the most distant place of the vehicle's center of mass. In this work, it is proposed the modeling of the hydrodynamic forces and moment on a duct propeller according to a numerical (CFD) simulation, and analytical and semi-empirical, ASE, approaches. Predicted values are compared to experimental results produced in a towing tank. Results confirm the advantages of the symbiosis between CFD and ASE methods for modeling the influence of the propeller duct in the AUV maneuverability. (C) 2012 Elsevier Ltd. All rights reserved.