Preconditioner updates applied to CFD model problems

In the present paper we concentrate on solving sequences of nonsymmetric linear systems with block structure arising from compressible flow problems. We attempt to improve the solution process by sharing part of the computational effort throughout the sequence. This is achieved by application of a cheap updating technique for preconditioners which we adapted in order to be used for our applications. Tested on three benchmark compressible flow problems, the strategy speeds up the entire computation with an acceleration being particularly pronounced in phases of instationary behavior.

Trajectory and Force Control of a Direct Drive Arm

Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed fro the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was them used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy. Various stability issues of force control were studied next. It was determined that there are two types of instability in force control. Dynamic instability, present in all of the previous force control algorithms discussed in this thesis, is caused by the interaction of a manipulator with a stiff environment. Kinematics instability is present only in the hybrid control algorithm of Raibert and Craig, and is caused by the interaction of the inertia matrix with the Jacobian inverse coordinate transformation in the feedback path. Several methods were suggested and demonstrated experimentally to solve these stability problems. The result of the stability analyses were then incorporated in implementing a stable force/position controller on the direct drive arm by the modified resolved acceleration method using both joint torque and wrist force sensor feedbacks.

A cell by cell anisotropic adaptive mesh ALE method

A cell by cell anisotropic adaptive mesh Arbitrary Lagrangian Eulerian (ALE) method for the solution of the Euler equations is described. An efficient approach to equipotential mesh relaxation on anisotropically refined meshes is developed. Results for two test problems are presented.

Perturbed Rankine vortices in surface quasi-geostrophic dynamics

An analytical dispersion relation is derived for linear perturbations to a Rankine vortex governed by surface quasi-geostrophic dynamics. Such a Rankine vortex is a circular region of uniform anomalous surface temperature evolving under quasi-geostrophic dynamics with uniform interior potential vorticity. The dispersion relation is analysed in detail and compared to the more familiar dispersion relation for a perturbed Rankine vortex governed by the Euler equations. The results are successfully verified against numerical simulations of the full equations. The dispersion relation is relevant to problems including wave propagation on surface temperature fronts and the stability of vortices in quasi-geostrophic turbulence.

An efficient flux difference splitting algorithm for unsteady duct flows of a real gas

A numerical scheme is presented for the solution of the Euler equations of compressible flow of a real gas in a single spatial coordinate. This includes flow in a duct of variable cross-section, as well as flow with slab, cylindrical or spherical symmetry, as well as the case of an ideal gas, and can be useful when testing codes for the two-dimensional equations governing compressible flow of a real gas. The resulting scheme requires an average of the flow variables across the interface between cells, and this average is chosen to be the arithmetic mean for computational efficiency, which is in contrast to the usual “square root” averages found in this type of scheme. The scheme is applied with success to five problems with either slab or cylindrical symmetry and for a number of equations of state. The results compare favourably with the results from other schemes.

An efficient numerical method for compressible flows of a real gas using arithmetic averaging

An efficient numerical method is presented for the solution of the Euler equations governing the compressible flow of a real gas. The scheme is based on the approximate solution of a specially constructed set of linearised Riemann problems. An average of the flow variables across the interface between cells is required, and this is chosen to be the arithmetic mean for computational efficiency, which is in contrast to the usual square root averaging. The scheme is applied to a test problem for five different equations of state.

An efficient shock capturing algorithm for compressible flows in a duct of variable cross-section

A numerical scheme is presented for the solution of the Euler equations of compressible flow of a gas in a single spatial co-ordinate. This includes flow in a duct of variable cross-section as well as flow with slab, cylindrical or spherical symmetry and can prove useful when testing codes for the two-dimensional equations governing compressible flow of a gas. The resulting scheme requires an average of the flow variables across the interface between cells and for computational efficiency this average is chosen to be the arithmetic mean, which is in contrast to the usual ‘square root’ averages found in this type of scheme. The scheme is applied with success to five problems with either slab or cylindrical symmetry and a comparison is made in the cylindrical case with results from a two-dimensional problem with no sources.

A non-uniform mesh scheme for compressible flow

A non-uniform mesh scheme is presented for the computation of compressible flows governed by the Euler equations of gas dynamics. The scheme is based on flux-difference splitting and represents an extension of a similar scheme designed for uniform meshes. The numerical results demonstrate that little, if any, spurious oscillation occurs as a result of the non-uniformity of the mesh; and importantly, shock speeds are computed correctly.

An efficient Riemann solver for unsteady flows with non-ideal gases

A Riemann solver is presented for the Euler equations of gas dynamics with real gases. This represents a more efficient version of an algorithm originally presented by the author.

Real gas flows in a duct

A numerical scheme is presented for the solution of the Euler equations of compressible flow of a real gas in a single spatial coordinate. This include flow in a duct of variable cross-section as well as flow with cylindrical or spherical symmetry, and can prove useful when testing codes for the two-dimensional equations governing compressible flow of a real gas. The scheme is applied with success to a problem involving the interaction of converging and diverging cylindrical shocks for four equations of state and to a problem involving the reflection of a converging shock.

Riemann solvers with primitive parameter vectors for two-dimensional compressible flows of a real gas

An analysis of averaging procedures is presented for an approximate Riemann solver for the equations governing the compressible flow of a real gas. This study extends earlier work for the Euler equations with ideal gases.

Symmetric stability of compressible zonal flows on a generalized equatorial β plane

Sufficient conditions are derived for the linear stability with respect to zonally symmetric perturbations of a steady zonal solution to the nonhydrostatic compressible Euler equations on an equatorial � plane, including a leading order representation of the Coriolis force terms due to the poleward component of the planetary rotation vector. A version of the energy–Casimir method of stability proof is applied: an invariant functional of the Euler equations linearized about the equilibrium zonal flow is found, and positive definiteness of the functional is shown to imply linear stability of the equilibrium. It is shown that an equilibrium is stable if the potential vorticity has the same sign as latitude and the Rayleigh centrifugal stability condition that absolute angular momentum increase toward the equator on surfaces of constant pressure is satisfied. The result generalizes earlier results for hydrostatic and incompressible systems and for systems that do not account for the nontraditional Coriolis force terms. The stability of particular equilibrium zonal velocity, entropy, and density fields is assessed. A notable case in which the effect of the nontraditional Coriolis force is decisive is the instability of an angular momentum profile that decreases away from the equator but is flatter than quadratic in latitude, despite its satisfying both the centrifugal and convective stability conditions.

Free gravity waves and balanced dynamics

It is shown how a renormalization technique, which is a variant of classical Krylov–Bogolyubov–Mitropol’skii averaging, can be used to obtain slow evolution equations for the vortical and inertia–gravity wave components of the dynamics in a rotating flow. The evolution equations for each component are obtained to second order in the Rossby number, and the nature of the coupling between the two is analyzed carefully. It is also shown how classical balance models such as quasigeostrophic dynamics and its second-order extension appear naturally as a special case of this renormalized system, thereby providing a rigorous basis for the slaving approach where only the fast variables are expanded. It is well known that these balance models correspond to a hypothetical slow manifold of the parent system; the method herein allows the determination of the dynamics in the neighborhood of such solutions. As a concrete illustration, a simple weak-wave model is used, although the method readily applies to more complex rotating fluid models such as the shallow-water, Boussinesq, primitive, and 3D Euler equations.

Coupled Kelvin-wave and mirage-wave instabilities in semigeostrophic dynamics

A weak instability mode, associated with phase-locked counterpropagating coastal Kelvin waves in horizontal anticyclonic shear, is found in the semigeostrophic (SG) equations for stratified flow in a channel. This SG instability mode approximates a similar mode found in the Euler equations in the limit in which particle-trajectory slopes are much smaller than f/N, where f is the Coriolis frequency and N > f the buoyancy frequency. Though weak under normal parameter conditions, this instability mode is of theoretical interest because its existence accounts for the failure of an Arnol’d-type stability theorem for the SG equations. In the opposite limit, in which the particle motion is purely vertical, the Euler equations allow only buoyancy oscillations with no horizontal coupling. The SG equations, on the other hand, allow a physically spurious coastal “mirage wave,” so called because its velocity field vanishes despite a nonvanishing disturbance pressure field. Counterpropagating pairs of these waves can phase-lock to form a spurious “mirage-wave instability.” Closer examination shows that the mirage wave arises from failure of the SG approximations to be self-consistent for trajectory slopes f/N.

Nonlinear stability of multilayer quasi-geostrophic flow

New nonlinear stability theorems are derived for disturbances to steady basic flows in the context of the multilayer quasi-geostrophic equations. These theorems are analogues of Arnol’d's second stability theorem, the latter applying to the two-dimensional Euler equations. Explicit upper bounds are obtained on both the disturbance energy and disturbance potential enstrophy in terms of the initial disturbance fields. An important feature of the present analysis is that the disturbances are allowed to have non-zero circulation. While Arnol’d's stability method relies on the energy–Casimir invariant being sign-definite, the new criteria can be applied to cases where it is sign-indefinite because of the disturbance circulations. A version of Andrews’ theorem is established for this problem, and uniform potential vorticity flow is shown to be nonlinearly stable. The special case of two-layer flow is treated in detail, with particular attention paid to the Phillips model of baroclinic instability. It is found that the short-wave portion of the marginal stability curve found in linear theory is precisely captured by the new nonlinear stability criteria.