A design strategy in the propulsion system attachment to a submarine hull to minimise radiated noise

Vibration modes of a submerged hull are excited by fluctuating forces generated at the propeller and transmitted to the hull via the propeller-shafting system. The low frequency hull vibrational modes result in significant sound radiation. This work investigates the reduction of the far-field radiated sound pressure by optimising the connection point of the shafting system to the hull. The submarine hull is modelled as a fluid loaded cylindrical hull with truncated conical shells at each end. The propeller-shafting system consists of the propeller, shaft, thrust bearing and foundation, and is modelled in a modular approach using a combination of spring-mass-damper elements and continuous systems (beams, plates, shells). The foundation is attached to the stern side end plate of the hull, which is modelled as a circular plate coupled to an annular plate. By tuning the connection radius of the foundation to the end plate, the maximum radiated noise in a given frequency range can be minimised.

Hybrid passive/active inertial actuators to attenuate the structural response of a submerged hull

This paper theoretically investigates the application of tuned vibration absorbers and hybrid passive/active inertial actuators to reduce the vibrational responses of plates and shells. The passive/active actuators are initially applied to a simple plate. A model of a submerged hull consisting of a ring stiffened finite cylinder with bulkheads and external fluid loading is then considered. The fluctuating forces from the propeller result in excitation of the low frequency global hull modes. Inertial actuators and tuned vibration absorbers are located at each end of the hull and in circumferential arrays to reduce the hull structural response at its axial resonances. The control performance of the hybrid passive/active inertial actuator, where the passive component is tuned to a structural resonance, is compared to the attenuation achieved by a fully passive tuned vibration absorber. This work shows the potential of using hybrid passive/active inertial actuators to attenuate the global structural responses of a submerged vessel.

Active control of the accordion modes of a submerged hull

Active vibration control of a submerged hull is presented. A submarine hull can be idealised as a ring stiffened finite cylinder with applied fluid loading. At low frequencies, rotation of the propeller results in discrete tones at the blade passing frequency and its harmonics. The low frequency axial and radial vibration modes of the submerged body can result in a high level of radiated noise. Global hull modes are difficult to attenuate since passive control techniques such as damping materials are not practical due to size and weight constraints. This work investigates active vibration control of a submarine hull for attenuation of the structural and acoustic responses. Based on a feedforward algorithm at tonal frequencies, active vibration suppression of the axial and radial hull displacements are investigated. The effect of the various control arrangements on the structure-borne radiated noise is examined. Numerical simulations of the control performance are presented.

Trailing edge noise theory for rotating blades in uniform flow

This paper presents a new formulation for trailing edge noise radiation from rotating blades based on an analytical solution of the convective wave equation. It accounts for distributed loading and the effect of mean flow and spanwise wavenumber. A commonly used theory due to Schlinker and Amiet (1981) predicts trailing edge noise radiation from rotating blades. However, different versions of the theory exist; it is not known which version is the correct one and what the range of validity of the theory is. This paper addresses both questions by deriving Schlinker and Amiet's theory in a simple way and by comparing it to the new formulation, using model blade elements representative of a wind turbine, a cooling fan and an aircraft propeller. The correct form of Schlinker and Amiet's theory (1981) is identified. It is valid at high enough frequency, i.e. for a Helmholtz number relative to chord greater than one and a rotational frequency much smaller than the angular frequency of the noise sources.

Nonlinear phenomena in thermoacoustic systems with premixed flames

Nonlinear analysis of thermoacoustic instability is essential for prediction of frequencies, amplitudes and stability of limit cycles. Limit cycles in thermoacoustic systems are reached when the energy input from driving processes and energy losses from damping processes balance each other over a cycle of the oscillation. In this paper an integral relation for the rate of change of energy of a thermoacoustic system is derived. This relation is analogous to the well-known Rayleigh criterion in thermoacoustics, but can be used to calculate the amplitudes of limit cycles, as well as their stability. The relation is applied to a thermoacoustic system of a ducted slot-stabilized 2-D premixed flame. The flame is modelled using a nonlinear kinematic model based on the G-equation, while the acoustics of planar waves in the tube are governed by linearised momentum and energy equations. Using open-loop forced simulations, the flame describing function (FDF) is calculated. The gain and phase information from the FDF is used with the integral relation to construct a cyclic integral rate of change of energy (CIRCE) diagram that indicates the amplitude and stability of limit cycles. This diagram is also used to identify the types of bifurcation the system exhibits and to find the minimum amplitude of excitation needed to reach a stable limit cycle from another linearly stable state, for single- mode thermoacoustic systems. Furthermore, this diagram shows precisely how the choice of velocity model and the amplitudedependence of the gain and the phase of the FDF influence the nonlinear dynamics of the system. Time domain simulations of the coupled thermoacoustic system are performed with a Galerkin discretization for acoustic pressure and velocity. Limit cycle calculations using a single mode, as well as twenty modes, are compared against predictions from the CIRCE diagram. For the single mode system, the time domain calculations agree well with the frequency domain predictions. The heat release rate is highly nonlinear but, because there is only a single acoustic mode, this does not affect the limit cycle amplitude. For the twenty-mode system, however, the higher harmonics of the heat release rate and acoustic velocity interact resulting in a larger limit cycle amplitude. Multimode simulations show that in some situations the contribution from higher harmonics to the nonlinear dynamics can be significant and must be considered for an accurate and comprehensive analysis of thermoacoustic systems. Copyright © 2012 by ASME.

Synthesis of bis(amine anhydride)s for novel high T(g)s and organosoluble poly(amine imide)s by palladium-catalyzed amination of 4-chlorophthalide anhydride

Two novel bis(amine anhydride)s, NN-bis(3,4-dicarboxyphenyl)aniline dianhydride (I) and N,N-bis(3,4-dicarboxyphenyl)-p-tert-butylaniline (II), were synthesized from the palladium-catalyzed amination reaction of N-methyl-protected 4-chlorophthalic anhydride with arylamines, followed by alkaline hydrolysis of the intermediate bis(amine-phthalimide)s and subsequent dehydration of the resulting tetraacids. The X-ray structures of anhydride I and II were determined. The obtained dianhydride monomers were reacted with various aromatic diamines to produce a series of novel polyimides. Because of the incorporation of bulky, propeller-shaped triphenylamine units along the polymer backbone, all polyimides exhibited good solubility in many aprotic solvents while maintaining their high thermal properties. These polymers had glass transition temperatures in the range of 298-408 degrees C. Thermogravimetric analysis showed that all polymers were stable, with 10% weight loss recorded above 525 degrees C in nitrogen.The tough polymer films, obtained by casting from solution, had tensile strength, elongation at break, and tensile modulus values in the range of 95-164 MPa, 8.8-15.7%, and 1.3-2.2 GPa, respectively.

两栖机器人轮桨腿驱动机构多目标优化设计

提出了一种既能够在陆地上爬行,又能够在一定深度的水下浮游和在海底爬行的新概念轮桨腿一体化两栖机器人;多运动模式和复合移动机构是该机器人的突出特点.分析了轮桨腿复合式驱动机构的运动机理,并采用多目标优化设计理论和算法,对驱动机构的爬行性能和浮游特性进行了综合优化,得到了两栖机器人驱动机构的结构优化参数.虚拟样机的仿真结果证明了该轮桨腿一体化两栖机器人驱动机构的综合运动性能良好,对非结构环境具有一定的适应能力。

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。

螺旋桨驱动UUV推进系统研究

为了实现水下机器人(UUV,Unmanned Underwater Vehicle)的高精度控制,深入研究了螺旋桨驱动UUV推进系统各个环节运行机理,并建立了它们各自的数学模型,包括PWM模块、直流永磁电机、螺旋桨、舵的数学模型。多功能仿真试验和湖试试验的系统响应曲线基本吻合,一方面表明本文建立的推进系统模型的正确性,另一方面体现了在多功能仿真平台上调试的控制策略和控制器参数具有很大的可信度。

两栖机器人轮桨腿驱动装置研究

两栖机器人是一种能在陆上和水下环境作业的特种机器人，发展两栖机器人技术对我国发展海洋技术、近海以及甚浅海技术有前瞻性的战略意义。两栖机器人具备在极浅水、碎浪带和海滩区域作业的能力，可以满足调查、监测以及军事领域的探雷、扫雷等方面的应用需求。开发具有环境适应能力的两栖机器人对于民用和军用都有较强的现实意义。 本文综合在水中爬行和浮游特性和陆地上常用的机器人移动方式和运动特点，提出了轮桨一体化的新型复合移动机构，极大的改善两栖机器人对非结构环境的适应能力。轮桨驱动装置巧妙地将水下机器人最常用的螺旋桨推进器与陆地爬行机器人驱动轮结合为一体，实现了多种运动模式自动切换，从而增强了机器人的运动能力，使其既可以在陆地、滩涂、海底爬行，又可以在极浅水海域浮游。 在两栖机器人轮桨设计的初级阶段，采用国际上流行的多学科优化方法、从系统的整体工作环境、性能要求出发，运用多学科综合优化策略，充分考虑涉及到的多个学科的性能指标参数范围，以实现两栖轮桨流体力学和结构力学等学科在多学科综合优化流程框架内的优化设计。在两栖轮桨参数优化的基础上，运用Isight计算平台分别计算了基本型轮桨、开式轮桨和闭式轮桨水动力特性，并对三者的性能进行了对比。利用虚拟样机技术开发了基于陆地环境下两栖机器人的虚拟仿真平台，利用该平台可以和Matlab设计两栖机器人控制系统，从而研究两栖机器人的越障、避障能力。最后，本文完成了两栖轮桨驱动装置结构设计。

A crystallographic and modelling study of a human telomeric RNA (TERRA) quadruplex

DNA telomeric repeats in mammalian cells are transcribed to guanine-rich RNA sequences, which adopt parallel-stranded G-quadruplexes with a propeller-like fold. The successful crystallization and structure analysis of a bimolecular human telomeric RNA G-quadruplex, folded into the same crystalline environment as an equivalent DNA oligonucleotide sequence, is reported here. The structural basis of the increased stability of RNA telomeric quadruplexes over DNA ones and their preference for parallel topologies is described here. Our findings suggest that the 2'-OH hydroxyl groups in the RNA quadruplex play a significant role in redefining hydration structure in the grooves and the hydrogen bonding networks. The preference for specific nucleotides to populate the C3'-endo sugar pucker domain is accommodated by alterations in the phosphate backbone, which leads to greater stability through enhanced hydrogen bonding networks. Molecular dynamics simulations on the DNA and RNA quadruplexes are consistent with these findings. The computations, based on the native crystal structure, provide an explanation for RNA G-quadruplex ligand binding selectivity for a group of naphthalene diimide ligands as compared to the DNA G-quadruplex.

The application of a novel fluidised photo reactor under UV-Visible and natural solar irradiation in the photocatalytic generation of hydrogen

With advancements in the development of visible light responsive catalysts for H2 production frequently being reported, photocatalytic water splitting has become an attractive method as a potential ‘solar fuel generator’. The development of novel photo reactors which can enhance the potential of such catalyst, however, is rarely reported. This is particularly important as many reactor configurations are mass transport limited, which in term limits the efficiency of more effective photocatalysts in larger scale applications. This paper describes the performance of a novel fluidised photo reactor for the production of H2 over two catalysts under UV-Visible light and natural solar illumination. Catalysts Pt-C3N4 and NaTaO3.La were dispersed in the reactor and the rate of H2 was determined by GC-TCD analysis of the gas headspace. The unit was an annular reactor constructed from stainless steel 316 and quartz glass with a propeller located in the base to control fluidisation of powder catalysts. Reactor properties such as propeller rotational speed were found to enhance the photo activity of the system through the elimination of mass transport limitations and increasing light penetration. The optimum conditions for H2 evolution were found to be a propeller rotational speed of 1035 rpm and 144 W of UV-Visible irradiation, which produced a rate of 89 µmol h-1 g-1 over Pt-C3N4. Solar irradiation was provided by the George Ellery Hale Solar Telescope, located at the California Institute of Technology.

Étude numérique des phénomènes transitoires dans une turbine axiale de type hélice durant l’emballement

Ce mémoire présente l’étude numérique d’un emballement de turbine hydraulique axiale à échelle modèle. Cet état transitoire est simulé du point de meilleur rendement jusqu’à l’atteinte de 95% de la vitesse d’emballement. Pour ce faire, une méthodologie numérique est développée à l’aide du logiciel commercial ANSYS CFX en utilisant une approche "Unsteady Reynolds Averaged Navier-Stokes" avec modèle de turbulence k-ε. Cette méthodologie numérique a été validée grâce à des mesures expérimentales de pression acquises en situation d’emballement sur les aubes d’une roue de turbine axiale étudiée au Laboratoire de Machines Hydrauliques de l’Université Laval. La validation des simulations numériques a été réalisée grâce à des comparaisons dans les domaines temporel et fréquentiel entre les pressions mesurées expérimentalement et calculées numériquement. Les analyses fréquentielles en transitoire ont été effectuées à l’aide de transformées en ondelettes afin de représenter l’évolution temporelle du spectre de fréquence. Des analyses qualitatives de phénomènes hydrauliques prenant place dans la turbine sont aussi présentées. Les analyses effectuées ont permis de confirmer le développement d’un tourbillon en précession par rapport à la roue dans l’aspirateur provocant les fluctuations de pression dominantes à des fréquences subsynchrones. La comparaison entre les données expérimentales et numériques a permis de valider une stratégie de simulation transitoire et d’en définir les limites en vue de prochaines simulations d’emballement. Des tests supplémentaires sont suggérés pour améliorer la précision ou le niveau de confiance de la méthode.

Water jet based autonomous surface vehicle for coastal waters operations

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

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