Planar Passage Research Articles

Curvature-Bounded Traversability Analysis in Motion Planning for Mobile Robots

We consider the geometric problem of deciding whether a narrow planar passage can be traversed by a curve that satisfies prespecified upper bounds on its curvature. This problem is of importance for path- and motion-planning of autonomous mobile robots, particularly when vehicle dynamical constraints are considered during planning. For a special case of narrow passages, namely, rectangular channels, we present a fast numerical algorithm to determine if a given channel may be traversed via curvature- bounded paths. We demonstrate that the proposed algorithm can affirm traversability in cases where the most recent result in the literature fails.

Effects of an Axisymmetric Contoured Endwall on a Nozzle Guide Vane: Adiabatic Effectiveness Measurements

Gas turbine designs seek improved performance by modifying the endwalls of nozzle guide vanes in the engine hot section. Within the nozzle guide vanes, these modifications can be in the form of an axisymmetric contour as the area contracts from the combustor to the turbine. This paper investigates the effect of axisymmetric endwall contouring on the cooling performance of a film cooled endwall. Adiabatic effectiveness measurements were performed in a planar passage for comparison to a contoured passage, whereby the exit Reynolds numbers were matched. For the contoured passage, measurements were performed both on the flat endwall and on the contoured endwall. Fully expanded film cooling holes were distributed on the endwall surface preceded by a two-dimensional slot normal to the inlet axis. Results indicated that the coolant coverage from the upstream leakage slot was spread over a larger area of the contoured endwall in comparison to the flat endwall of the planar passage. Film cooling effectiveness on the flat endwall of the contoured passage showed minimal differences relative to the planar passage results. The contracting endwall of the contoured passage, however, showed a significant reduction with average film cooling effectiveness levels approximately 40% lower than the planar passage at low film cooling flow rates. In the case of all endwalls, increasing leakage and film cooling mass flow rates led to an increase in cooling effectiveness and coolant coverage.

Effects of an Axisymmetric Contoured Endwall on a Nozzle Guide Vane: Convective Heat Transfer Measurements

Heat transfer is a critical factor in the durability of gas turbine components, particularly in the first vane. An axisymmetric contour is sometimes used to contract the cross sectional area from the combustor to the first stage vane in the turbine. Such contouring can lead to significant changes in the endwall flows, thereby altering the heat transfer. This paper investigates the effect of axisymmetric contouring on the endwall heat transfer of a nozzle guide vane. Heat transfer measurements are performed on the endwalls of a planar and contoured passage whereby one endwall is modified with a linear slope in the case of the contoured passage. Included in this study is upstream leakage flow issuing from a slot normal to the inlet axis. Each of the endwalls within the contoured passage presents a unique flow field. For the contoured passage, the flat endwall is subject to an increased acceleration through the area contraction, while the contoured endwall includes both increased acceleration and a turning of streamlines due to the slope. Results indicate heat transfer is reduced on both endwalls of the contoured passage relative to the planar passage. In the case of all endwalls, increasing leakage mass flow rate leads to an increase in heat transfer near the suction side of the vane leading edge.