A calibrated, non-invasive method for measuring the internal interface height field at high resolution in the rotating, two-layer annulus

We describe a remote sensing method for measuring the internal interface height field in a rotating, two-layer annulus laboratory experiment. The method is non-invasive, avoiding the possibility of an interaction between the flow and the measurement device. The height fields retrieved are accurate and highly resolved in both space and time. The technique is based on a flow visualization method developed by previous workers, and relies upon the optical rotation properties of the working liquids. The previous methods returned only qualitative interface maps, however. In the present study, a technique is developed for deriving quantitative maps by calibrating height against the colour fields registered by a camera which views the flow from above. We use a layer-wise torque balance analysis to determine the equilibrium interface height field analytically, in order to derive the calibration curves. With the current system, viewing an annulus of outer radius 125 mm and depth 250 mm from a distance of 2 m, the inferred height fields have horizontal, vertical and temporal resolutions of up to 0.2 mm, 1 mm and 0.04 s, respectively.

A Bayesian approach to estimate sensible and latent heat over vegetated land surface

Sensible and latent heat fluxes are often calculated from bulk transfer equations combined with the energy balance. For spatial estimates of these fluxes, a combination of remotely sensed and standard meteorological data from weather stations is used. The success of this approach depends on the accuracy of the input data and on the accuracy of two variables in particular: aerodynamic and surface conductance. This paper presents a Bayesian approach to improve estimates of sensible and latent heat fluxes by using a priori estimates of aerodynamic and surface conductance alongside remote measurements of surface temperature. The method is validated for time series of half-hourly measurements in a fully grown maize field, a vineyard and a forest. It is shown that the Bayesian approach yields more accurate estimates of sensible and latent heat flux than traditional methods.

Optimal inverter design for an induction machine using resonant frequency matching

The frequency responses of two 50 Hz and one 400 Hz induction machines have been measured experimentally over a frequency range of 1 kHz to 400 kHz. This study has shown that the stator impedances of the machines behave in a similar manner to a parallel resonant circuit, and hence have a resonant point at which the Input impedance of the machine is at a maximum. This maximum impedance point was found experimentally to be as low as 33 kHz, which is well within the switching frequency ranges of modern inverter drives. This paper investigates the possibility of exploiting the maximum impedance point of the machine, by taking it into consideration when designing an inverter, in order to minimize ripple currents due to the switching frequency. Minimization of the ripple currents would reduce torque pulsation and losses, increasing overall performance. A modified machine model was developed to take into account the resonant point, and this model was then simulated with an inverter to demonstrate the possible advantages of matching the inverter switching frequency to the resonant point. Finally, in order to experimentally verify the simulated results, a real inverter with a variable switching frequency was used to drive an induction machine. Experimental results are presented.

Modelling the cabling of rope systems

This paper presents a theoretical model of the torsional characteristics of parallel multi-part rope systems. In such systems, the ropes may cable, or wrap around each other, depending on the combination of applied torque, rope tension, length and spacing between the rope parts. Cabling constitutes a failure that might be retrievable but as such can seriously affect the performance of the rope system. The torsional characteristics of the system are very different before and after cabling, and theoretical models are given for both situations. Laboratory tests were performed on both two and four rope systems, with measurements being made of torque at rotations from 0 to 360 deg. Tests were run with different rope spacings, tensions and lengths and the results compared with predictions from the theoretical model. The conclusion from the test results was that the theoretical model predicts both the pre- and post-cabling torsional behaviour with an acceptable level of accuracy.

Modelling the torsional interaction of wire and polyester fibre ropes used for offshore moorings

Oil rig mooring lines have traditionally consisted of chain and wire rope. As production has moved into deeper water it has proved advantageous to incorporate sections of fibre rope into the mooring lines. However, this has highlighted torsional interaction problems that can occur when ropes of different types are joined together. This paper describes a method by which the torsional properties of ropes can be modelled and can then be used to calculate the rotation and torque for two ropes connected in series. The method uses numerical representations of the torsional characteristics of both the ropes, and equates the torque generated in each rope under load to determine the rotation at the connection point. Data from rope torsional characterization tests have been analysed to derive constants used in the numerical model. Constants are presented for: a six-strand wire rope; a torque-balanced fibre rope; and a fibre rope that has been designed to be torque-matched to stranded wire rope. The calculation method has been verified by comparing predicted rotations with measured test values. Worked examples are given for a six-strand wire rope connected, firstly, to a torque-balanced fibre rope that offers little rotational restraint, and, secondly, to a fibre rope whose torsional properties are matched to that of the wire rope.

Young's modulus varies with differential orientation of keratin in feathers

Feathers are composed of a structure that, whilst being very light, is able to withstand the large aerodynamic forces exerted upon them during flight. To explore the contribution of molecular orientation to feather keratin mechanical properties, we have examined the nanoscopic organisation of the keratin molecules by X-ray diffraction techniques and have confirmed a link between this and the Young's modulus of the feather rachis. Our results indicate that along the rachis length, from calamus to tip, the keratin molecules become more aligned than at the calamus before returning to a state of higher mis-orientation towards the tip of the rachis. We have also confirmed the general trend of increasing Young's modulus with distance along the rachis. Furthermore, we report a distinct difference in the patterns of orientation of beta-keratin in the feathers of flying and flightless birds. The trend for increased modulus along the feathers of volant birds is absent in the flightless ostrich.

Torsional interactions between mooring line components

Six strand ropes generate torque under tension. This can lead to transfer of twist to other mooring line components, either permanently, or dynamically. The effects of this imposed twist can seriously affect strength and fatigue endurance. In order to predict the torsional interactions between components it is necessary to quantify the tension/torsion behavior of all the different categories of mooring line component, not just the six strand rope. This paper discusses the problems of torsional interaction and presents results of measurements of tension/torsion behavior of six strand rope, stud link chain and a PET fiber rope.

Effects of variation in the palm stearin: palm olein ratio on the crystallisation of a low-trans shortening

Changes in the theological properties during crystallisation and in the crystal size and morphology of blends containing rapeseed oil with varying percentages of palm stearin (POs) and palm olein (POf) have been studied. The crystals formed from all three blends were studied by confocal laser scanning microscopy, light microscopy and environmental scanning electron microscopy, which revealed the development of clusters of 3-5 individual elementary "spherulites" in the early stages of crystallisation. The saturated triacylglycerol content of the solid crystals separated at the onset of crystallisation was much greater than that in the total fat. Fat blends with a higher content of palm stearin had a more rapid nucleation rate when observed by light microscopy, and this caused an earlier change in the rheological properties of the fat during crystallisation. Using a low torque amplitude (0.005 Pa, which was within the linear viscoelastic region of all samples studied) and a frequency of 1 Hz, the viscoelastic properties of melted fat during cooling were studied. All samples, prior to crystallisation, showed weak viscoelastic liquid behaviour (G '', loss modulus >G', storage modulus). After crystallisation a more "solid like" behaviour was observed (G' similar to or greater than G ''). The blend having the highest concentration of POs was found to have the earliest onset of crystallisation (27% w/w POs; 12 mins, 22% w/w POs; 13.5 mins, 17% w/w POs, 15 mins, respectively). However, there were no significant differences in the time to the point when G' became greater than G' among the three blends. (c) 2006 Elsevier Ltd. All rights reserved.

Right hemisphere language functions and schizophrenia: the forgotten hemisphere?

This review highlights the importance of right hemisphere language functions for successful social communication and advances the hypothesis that the core deficit in psychosis is a failure of segregation of right from left hemisphere functions. Lesion studies of stroke patients and dichotic listening and functional imaging studies of healthy people have shown that some language functions are mediated by the right hemisphere rather than the left. These functions include discourse planning/comprehension, understanding humour, sarcasm, metaphors and indirect requests, and the generation/comprehension of emotional prosody. Behavioural evidence indicates that patients with typical schizophrenic illnesses perform poorly on tests of these functions, and aspects of these functions are disturbed in schizo-affective and affective psychoses. The higher order language functions mediated by the right hemisphere are essential to an accurate understanding of someone's communicative intent, and the deficits displayed by patients with schizophrenia may make a significant contribution to their social interaction deficits. We outline a bi-hemispheric theory of the neural basis of language that emphasizes the role of the sapiens-specific cerebral torque in determining the four-chambered nature of the human brain in relation to the origins of language and the symptoms of schizophrenia. Future studies of abnormal lateralization of left hemisphere language functions need to take account of the consequences of a failure of lateralization of language functions to the right as well as the left hemisphere.

H∞ robust control design for unsupported paraplegic standing: experimental evaluation

This paper is concerned with the design of robust feedback H~-control systems for the control of the upright posture of paraplegic persons standing. While the subject stands in a special apparatus, stabilising torque at the ankle joint is generated by electrical stimulation of the paralyzed calf muscles. Since the muscles acting as actuators in this setup show a significant degree of nonlinearity, a robust H~-control design is used. The design approach is implemented in experiments with a paraplegic subject. The results demonstrate good performance and closed loop stability over the whole range of operation.

Quasi-decoupled fuzzy logic controller

The authors describe the design of a fuzzy logic controller for the control of a planar two-link manipulator. The plant is quasi-decoupled with respect to gravity. Complete decoupling is not achieved due to the nonoptimal nature of the expert rules. The performance of the fuzzy controller is compared to that of the critically damped computed torque controller. Results are presented complete with robustness tests.

Transputer control of a Puma 560 robot via the virtual bus

The robot control problem is discussed with regard to controller implementation on a multitransputer array. Some high-performance aspects required of such controllers are described, with particular reference to robot force control. The implications for the architecture required for controllers based on computed torque are discussed and an example is described. The idea of treating a transputer array as a virtual bus is put forward for the implementation of fast real-time controllers. An example is given of controlling a Puma 560 industrial robot. Some of the practical considerations for using transputers for such control are described.

Joint servoing for robust manipulator force control

An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique.

Issues in stratosphere-troposphere coupling

An overview is given of current issues concerning the coupling between the stratosphere and troposphere. The tropopause region, more generally the upper troposphere/lower stratosphere, is the region of direct contact where exchange of material takes place. Dynamical coupling through angular momentum transfer by waves occurs nonlocally, and provides a generally negative torque on the stratosphere which drives an equator-to-pole circulation (i.e., towards the Earth’s axis of rotation). This wave-driven circulation is the principal mechanism for intraseasonal and interannual variability in the extratropical stratosphere. Although such variability is generally dynamical in origin, there are important chemical and radiative feedbacks. The location of the tropopause has implications for radiative forcing of climate, through its effect on the distribution of relatively short-lived greenhouse gases (ozone and water vapour). Some outstanding puzzles in our current understanding are identified. Attention is focused on possible climate sensitivities, and how these may be tested and constrained. Results from the Canadian Middle Atmosphere Model (CMAM), a fully interactive radiative-chemical-dynamical general circulation model, are used to illustrate some of the points.

Modelling of urban sensible heat flux at multiple spatial scales : a demonstration using airborne hyperspectral imagery of Shanghai and a temperature–emissivity separation approach

Urbanization related alterations to the surface energy balance impact urban warming (‘heat islands’), the growth of the boundary layer, and many other biophysical processes. Traditionally, in situ heat flux measures have been used to quantify such processes, but these typically represent only a small local-scale area within the heterogeneous urban environment. For this reason, remote sensing approaches are very attractive for elucidating more spatially representative information. Here we use hyperspectral imagery from a new airborne sensor, the Operative Modular Imaging Spectrometer (OMIS), along with a survey map and meteorological data, to derive the land cover information and surface parameters required to map spatial variations in turbulent sensible heat flux (QH). The results from two spatially-explicit flux retrieval methods which use contrasting approaches and, to a large degree, different input data are compared for a central urban area of Shanghai, China: (1) the Local-scale Urban Meteorological Parameterization Scheme (LUMPS) and (2) an Aerodynamic Resistance Method (ARM). Sensible heat fluxes are determined at the full 6 m spatial resolution of the OMIS sensor, and at lower resolutions via pixel aggregation and spatial averaging. At the 6 m spatial resolution, the sensible heat flux of rooftop dominated pixels exceeds that of roads, water and vegetated areas, with values peaking at ∼ 350 W m− 2, whilst the storage heat flux is greatest for road dominated pixels (peaking at around 420 W m− 2). We investigate the use of both OMIS-derived land surface temperatures made using a Temperature–Emissivity Separation (TES) approach, and land surface temperatures estimated from air temperature measures. Sensible heat flux differences from the two approaches over the entire 2 × 2 km study area are less than 30 W m− 2, suggesting that methods employing either strategy maybe practica1 when operated using low spatial resolution (e.g. 1 km) data. Due to the differing methodologies, direct comparisons between results obtained with the LUMPS and ARM methods are most sensibly made at reduced spatial scales. At 30 m spatial resolution, both approaches produce similar results, with the smallest difference being less than 15 W m− 2 in mean QH averaged over the entire study area. This is encouraging given the differing architecture and data requirements of the LUMPS and ARM methods. Furthermore, in terms of mean study QH, the results obtained by averaging the original 6 m spatial resolution LUMPS-derived QH values to 30 and 90 m spatial resolution are within ∼ 5 W m− 2 of those derived from averaging the original surface parameter maps prior to input into LUMPS, suggesting that that use of much lower spatial resolution spaceborne imagery data, for example from Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) is likely to be a practical solution for heat flux determination in urban areas.