Rolling Motion Research Articles

Vibrational dynamics of a subjected system to external torque and excitation force

This work focuses on the dynamical response of a novel auto-parametric two-degrees-of-freedom (DOF) dynamical system when it is subjected to external torque and force. It consists of a forced oscillator with nonlinear stiffness that is connected to a linear spring. In accordance with the system’s DOF, an organizing system of equations of motion (EOM) is produced using Euler–Lagrange’s equations. To obtain the analytical approximate solutions (ASs) of the equations of this system, the multiple scales technique (MST) is employed. The provided solutions are being juxtaposed with the numerical solutions (NSs) for comparison to show how closely they agree, as well as the precision of the MST. In view of removing secular terms, the system’s solvability criteria are obtained. All arising resonance cases are classified, and two of them are then examined at once. The relevant system of modulation equations is solved numerically to illustrate the advantageous influence of diverse factors on the behavior of the modified phases and amplitudes. Based on the values of these parameters, the frequency response curves (FRCs) are drawn to explore different zones of stability and instability. A wide variety of values for the system’s parameters shows that its behavior is steady. The achieved outcomes are deemed novel, as the MST has been applied on a new dynamical model. The results have broad relevance and can be implemented in various engineering contexts, including the analysis of ship movements, in which nonlinear coupling between rolling and pitching motions can be found.

Design strategy for resonance avoidance to improve the performance of tension leg platform-type floating offshore wind turbines

The objective of this study is to determine the effect of elasticity of the tower and blades of a large tension leg platform (TLP)-type FOWT on the eigenmodes of the entire system and suggest reference directions to be implemented in the conceptual design stage. Typically, TLP-type FOWTs are connected by a mooring system with strong tension and exhibit an extremely short natural period of motion compared with a semi-submersible platform. Furthermore, the wind turbine tower mounted on the floating platform is flexible in the fore-aft and side-to-side directions, forming a vibrating system in itself; therefore, it is coupled with the motion of the floating platform. In particular, the tower elasticity is known to influence the roll and pitch motions of the platform. In this study, the motion response characteristics of the platform were investigated according to the changes in the tower design parameter (bending stiffness). The influence of blade elasticity was also confirmed, verifying that the physical characteristics of both the tower and blade significantly affect the motion of the TLP. Additionally, the degree of influence based on environmental loads was identified to suggest a design direction for FOWTs while avoiding resonance.

Comparison of stochastic stability boundaries for parametrically forced systems with application to ship rolling motion

Numerous accidents caused by parametric rolling have been reported on container ships and pure car carriers (PCCs). Considering this dangerous phenomenon, the parametric rolling in irregular seas is examined in this paper based on the stability of the systems origin, which corresponds to the upright condition of the vessel. It provides a novel theoretical explanation of the instability mechanism for two cases: white-noise parametric excitation and colored-noise parametric excitation. Moreover, the authors confirm the usefulness of the previously provided formulae by Roberts and Dostal by means of numerical examples.

Data-driven method for hydrodynamic model estimation applied to an unmanned surface vehicle

Unmanned surface vehicles (USVs) are increasingly appealing for gathering metocean data, including directional sea spectra. This paper presents new developments towards estimating the response amplitude operators (RAOs) of surface vehicles equipped with inertial sensors. The novel approach undertakes the data-driven estimation of vehicle models of the wave-induced heave, roll, and pitch motion dynamics, as required to perform subsequent seakeeping computations. Specifically, a genetic algorithm executes the calibration of available closed-form RAOs for a simplified geometry. The algorithm makes a population of model-fitting parameters evolve towards minimising discrepancies between the predicted and measured response spectra in stationary operational conditions. Trust in the model is eventually increased by screening and merging the best-fitting solutions. Resulting response predictions using high-resolution spectral wave data for the AutoNaut USV demonstrate satisfactory accuracy and robustness in heave and pitch but a worse fidelity in roll, thereby motivating follow-up studies to improve the estimation of roll RAOs.

Seakeeping simulation of surfaced submarines and statistical validation based on model tests in open waters as part of the development of the new stability regulation DMS 1030-2 for the German navy

ABSTRACT This paper explains the need for the new surface stability regulation recently developed for the submarines of the German Navy and gives an overview of its general setup and main principles. Further, the test setup and main findings of open water model tests using two submarine hull forms on Eckernförde Bay are presented, which contributed towards the development of the new standard. Building on this introduction of the model tests, the results of an exemplary test run at specific combination of speed, stability, sea state and encounter angle are compared via statistical analysis with seakeeping simulation results using E4-ROLLS, a potential flow theory-based computation method. The comparison aims to check the suitability of E4-ROLLS for analyzing stability-dependent large-amplitude roll motions of surfaced submarines in natural seaways. The quality of results is discussed, whereby limitations of the simulation method are pointed out and the relevance of the presented research becomes apparent.

Visualization of the rolling motion of spheres connected with a rubber band using an image processing technique

The traditional physics laboratory has adopted a photogate and polarized light to measure rotation motion in a fixed system, but they are not applicable to rolling objects. Computer vision has played an increasingly important role in image analysis. The popularization of mobile phones, cameras and computers makes it possible to measure the rotation of an object in a simple but nonintrusive way in a physics laboratory. A ‘tracker’ has been used to analyze the rotation motion of large objects, such as vehicle wheels, by recognizing the position of a marker. However, it is still challenging to precisely recognize the marker in a small object via simple algorithms in a physics laboratory. In this paper, we introduce a facile image processing technique to visualize the rotation and spin motion of spheres by marking it with two red and green semi-spheres. A basic formula of projection was derived to analyze the expression of spin angles with the projection area of the semi-sphere. The precision and suitability of the image processing technique was proven to be effective through comparison with the photogate measurement technique. The image processing technique has also been used to analyze the rotation and spin motion of two spheres bonded with a rubber band. It provides not only the trajectory of sphere centers, but the evolution of spin angles, orbit diameter and orbit angles of spheres. By analyzing the relationship between spin angles and orbit diameter, it is clear that the rubber band experienced typical transformations between three different phases (twist, coil and supercoil) until the energy was exhausted. The method offers valuable insights into rotational dynamics, showcasing its potential for practical applications in the physics laboratory and in educational contexts.

Features of the contact angle hysteresis at the nanoscale: A molecular dynamics insight

Understanding the physics of a three-phase contact line between gas, liquid, and solid is important for numerous applications. At the macroscale, the response of a three-phase contact line to an external force action is often characterized by a contact angle hysteresis, and several models are presented in the literature for its description. Yet, there is still a need for more information about such model applications at the nanoscale. In this study, a molecular dynamics approach was used to investigate the shape of a liquid droplet under an external force for different wetting regimes. In addition, an analytic model for describing the droplet shape was developed. It gives us the possibility to evaluate the receding and advancing wetting angle accurately. With our modeling, we found that the interplay between capillary forces and viscous forces is crucial to characterize the droplet shape at the nanoscale. In this frame, the importance of the rolling movement of the interface between liquid and vapor was pointed out. We also demonstrate that in the range of the external forces when capillary forces are most significant compared to others, hysteresis is well described by the macroscale Cox–Voinov model.

Analysis of Front Roll Movement In Gymnastics: An Inquiry Approach Among Physical Education Students

This study describes the analysis of front roll movement skills in students using an inquiry approach, emphasizing active exploration and investigation by students. The research method utilized was quantitative descriptive. The research sample consisted of 63 physical education students from IKIP PGRI Pontianak. The research results indicate that students' activity in performing front roll movements in gymnastics with the inquiry method showed improvement. Initial data showed that for Morning Class A, 19 students, or 63.3% out of 30 students, obtained a Poor Category; for Afternoon Class, 24 students, or 80% out of 30 students, obtained a Poor Category. After implementing the inquiry method, there was an improvement in Morning Class students, with 24 students, or 80% out of 30 students achieving a Medium Category, and in Afternoon Class A, 28 students, or 93.3% out of 30 students achieving a Medium Category. This study concludes that using the inquiry method can enhance the skills of physical education students in performing front roll movements in gymnastics

Tuning the Proportional-Integral-Derivative Control Parameters of Unmanned Aerial Vehicles Using Artificial Neural Networks for Point-to-Point Trajectory Approach.

Nowadays, trajectory control is a significant issue for unmanned micro aerial vehicles (MAVs) due to large disturbances such as wind and storms. Trajectory control is typically implemented using a proportional-integral-derivative (PID) controller. In order to achieve high accuracy in trajectory tracking, it is essential to set the PID gain parameters to optimum values. For this reason, separate gain values are set for roll, pitch and yaw movements before autonomous flight in quadrotor systems. Traditionally, this adjustment is performed manually or automatically in autotune mode. Given the constraints of narrow orchard corridors, the use of manual or autotune mode is neither practical nor effective, as the quadrotor system has to fly in narrow apple orchard corridors covered with hail nets. These reasons require the development of an innovative solution specific to quadrotor vehicles designed for constrained areas such as apple orchards. This paper recognizes the need for effective trajectory control in quadrotors and proposes a novel neural network-based approach to tuning the optimal PID control parameters. This new approach not only improves trajectory control efficiency but also addresses the unique challenges posed by environments with constrained locational characteristics. Flight simulations using the proposed neural network models have demonstrated successful trajectory tracking performance and highlighted the superiority of the feed-forward back propagation network (FFBPN), especially in latitude tracking within 7.52745 × 10-5 RMSE trajectory error. Simulation results support the high performance of the proposed approach for the development of automatic flight capabilities in challenging environments.

Numerical investigation on the effects of heel on the aerodynamic performance of wing sails

The utilization of wind-assisted propulsion technology could reduce ship fuel consumption and emission of pollutants. In the study, the effect of steady heel angles on the aerodynamic characteristics of wing sails was investigated. Full-scale three-dimensional simulations with the ship's superstructure were conducted at heel angles of 0°–15° in all apparent wind directions. The correctness of the numerical computations is verified by comparing them with the wind tunnel experimental data. Overall, the heel is detrimental to the capture of wind energy by the wing sails. The aerodynamic forces of the sail system decrease with increasing heel angles. Specifically, the average thrust performance is attenuated by 4.7%, 13.5% and 20.5%, respectively, at heel angles of 5°, 10°, and 15° compared to the upright condition. Due to changes in the airflow distribution around the sails, the aerodynamic force of sails in heeled to windward and heeled to leeward decreases by the reduced area of the low-pressure zone on the suction side and the high-pressure zone on the pressure side, respectively. Finally, a prediction scheme for assessing the effect of rolling motion on sail performance is proposed by steady heel results.

Input saturated [formula omitted] optimal control to mitigate DTMB 5415 combatant roll motion using anti roll gyro stabilizer

Despite technological advances, rolling motion is the most critical motion for the stability and survivability of ships. This study examines the possibility of using Anti Roll Gyrostabilizer System (ARGS) as a control actuation system to mitigate the roll motion of the DTMB 5415. In the scope of conceptual study, state space model of the DTMB 5415 Combatant Warship has been obtained. Then, ARGS dynamics have been integrated into the roll motion dynamics. Parameters of the DTMB 5415 and actuator are identified from the literature. Comparing experimental and numerical studies in the literature have also expanded the damping term parameters in the equation of roll motion. However, a Monte Carlo analysis is carried out to define the preliminary parameters of ARGS. An actuator-saturated Linear Matrix Inequality (LMI) Full State-Feedback H∞ Optimal Controller is tested for this design iteration. The results are also contrasted with the requirements that military ships must meet. Ship roll amplitudes have significantly decreased (over 95% for various sea conditions) and have complied with STANAG 4154 standards. The 1 radian Precession Angle limit has not been overshot. Continuous and discrete-time control rules are implemented, thus demonstrating the applicability of this actuation and control method are shown.

Modeling and analysis of vehicle stability region based on Lyapunov and coordinated control

The timely intervention of the assisted driving system is the key to improving the handling stability and roll stability of the vehicle, and the vehicle stability region serves as the core basis for determining the intervention timing of the assisted driving system. With the aim of modeling and analyzing the vehicle stability region, a three-degree-of-freedom (3-DOF) vehicle dynamics model including yaw, roll, and lateral motions, as well as a nonlinear Magic Formula tire model are established in this paper. Based on this, a simplified but improved cubic tire model is developed to accurately fit the tire lateral force of Magic Formula tire model within a larger range of slip angles. Subsequently, using the Lyapunov method, the roll stability region and the yaw stability region are respectively constructed, and the accuracy verification and robustness analysis of the established stability region are conducted in the Matlab/Simulink environment. Finally, a model-free adaptive control method is employed to keep the vehicle state within the stability region, without tracking specific vehicle state objectives. The study in this paper can provide theoretical support for stability boundary determination, formulation of intervention timing for assisted driving stability control, and coordination control of vehicle stability and anti-rollover with local compatibility or even conflicts.

Design of adsorption chillers under rolling conditions in naval applications: Experimental and numerical approaches

International shipping is one of the major contributors to the overall greenhouse gases emissions and therefore its decarbonization is a key priority worldwide. Among the possible energy efficiency measures, the use of waste heat for cooling through adsorption chillers has gained significant attention. However, the proper integration of such kind of chillers on board needs to consider the effect of the rolling movement of the ship. In the present work, two different sorption modules (i.e the couple of adsorber + evaporator/condenser) are experimentally tested in horizonal position and at different inclinations, considering permanent tilting or continuous moving. The results were subsequently used for the implementation in a dynamic simulation model and the design of the chiller for application on passengers’ vessels. Results showed that operation under constant inclination of 30° resulted in a reduction of the cooling energy supplied by 22.5 % for the module with zeolite and by 55.8 % for the module with silica gel. The highest specific cooling energy (SCE) is 0.26 kWh/kg for the zeolite module and 0.18 kWh/kg for the silica gel module. The main issues underlined under tilted operation is the progressive reduction of the water level in the evaporator, which causes incorrect operation of capillary-driven evaporation. Accordingly, the increase of water level in the evaporator was suggested as mitigation strategy. It was however found out that the issue is only relevant if prolonged operation in a tilted condition is foreseen, but not under typical rolling operation with continuous movement.

Extraordinary-durable cylindrical rotary triboelectric nanogenerator based on CB/Fe3O4/PDMS microarrays for energy harvester

Triboelectric nanogenerators (TENGs) with exceptionally durable energy harvesting performance are increasingly important in the pursuit of sustainable/renewable energy sources. However, the durability of frictional electricity material inevitably decreases due to material abrasion, which significantly hinders their real-world application. Here, robust and flexible films composed of CB/Fe3O4/PDMS and CB/Fe3O4/PDMS@Au microarrays have been employed as paired frictional electricity materials, wrapped around the surface of cylindrical electrodes to develop rotary TENG. When two rotary electrodes contact, the aforementioned paired microarrays intersect, causing overlapping friction. This leads to an increased contact electrified surface area, resulting in high output performance with a maximum peak power density reaching 16.2 mW m−2. Importantly, the configuration of this rotary TENG described herein effectively prevents frictional material damage caused by friction. This is achieved by allowing free rolling movement instead of being fixed in a stationary position, thereby ensuring exceptional durability. Furthermore, the resulting rotary TENG shows exceptional biomechanical energy harvesting capability even after undergoing multiple rotations and experiencing friction for up to 100,000 cycles. The durable PDMS-based microarrays film exhibits great potential for flexible/wearable TENGs, highlighting their potential applications and impact on the field of sustainable energy harvesting technology.

Experimental Evaluation of the Motion-Induced Effects for Turbulent Fluctuations Measurement on Floating Lidar Systems

This study examines how motion influences turbulent velocity fluctuations utilizing measurements obtained from a wind lidar profiler. Onshore tests were performed using a WindCube v2.1 lidar, which was mobile and mounted on a hexapod to simulate buoy motion. Additionally, a fixed WindCube v2.1 lidar was used as a reference during these tests. To assess the motion-induced effects on velocity fluctuations measured by floating lidar systems, the root-mean-square error (RMSE) of velocity fluctuations obtained from the fixed and mobile lidars was calculated. A comprehensive wind dataset spanning 22.5 h was analyzed, with a focus on regular motions involving single-axis rotations and combinations of rotations around multiple axes. The investigation of single-axis rotations revealed that the primary influencing factor on the results was the alignment between the tilt direction of the mobile lidar and the wind direction. The highest RMSE values occurred when the tilt of the mobile lidar leans in the wind direction, resulting in pitch motion, whereas the lowest RMSE values were observed when the tilt of the mobile lidar leans perpendicular to the wind direction, resulting in roll motion. Moreover, the addition of motion around extra axes of rotation was found to increase RMSE.

Cervical anatomy and its relation to foraging habits in aquatic birds (Aves: Neornithes: Neoaves).

Birds have extremely flexible necks, which help in their search for food. However, studies on the variation in bird cervical anatomy and its relationship with foraging are rare, despite the different habits presented between species. Here, we analyze the anatomy of the neck of aquatic birds and relate it to their foraging strategies. We dissected specimens representing four species of Charadriiformes, 11 species of Phaethoquornithes, and two specimens belonging to the outgroup Telluraves. We chose to emphasize Charadriiformes and Phaethoquornithes because they present several strategies that require cervical mobility and stability. We note that vertebral anatomy and dimensions vary, which affects the shape and size of the soft tissues attached throughout the neck. The synovial cartilage present in the articulatio intercorporalis represents an additional length in the neck, however, this is not longer than that observed in animals with intervertebral discs. Our analysis indicates that birds have a prevalence of dorsoventral movements in the middle of the neck and lateral and rotational movements near the base of the neck, while the region near the head presents a wide range of movement in all directions. Cervical ligaments and muscles throughout the neck provide stability in all segments, although the robustness of the soft tissues indicates that the most caudal portion of the neck is the most stable. The vertebral and soft tissue anatomy is consistent with the extensive mobility in pitching, yaw, and roll movements performed mainly by the head and first segment of the neck during the different foraging of the analyzed birds. Furthermore, the muscles closer to the skull are robust and allow the execution of a variety of habits to capture food in different species. The subsequent cervical segments present differences that explain their reduction in mobility, but they are equally stable.

Mechanical characteristics analysis of high dimensional vibration isolation systems based on high-static-low-dynamic stiffness technology

Large floating raft vibration isolation systems (FRVISs) based on high-static-low-dynamic stiffness (HSLDS) technology offer excellent low frequency vibration isolation performance with broad application prospects. However, the design process for these complex high-dimensional coupled nonlinear systems remains poorly developed, particularly when applied for ocean-going vessels that experience rolling and pitching motions. The present work addresses this issue by establishing a six-degree-of-freedom HSLDS vibration isolation model for FRVISs composed of eight isolators, and the model is applied to fully analyze the swing stability and multidimensional vibration isolation performance of these systems. The influence of nonlinearity on the mechanical properties of the vibration isolators is analyzed more clearly by assuming that each vibration isolator realizes nonlinear HSLDS characteristics in the z direction and linear characteristics in the x and y directions. The results demonstrate that the swing displacement responses of the system are greatly reduced under weak nonlinearity, which reflects the high static stiffness and high static stability characteristics of an HSLDS system. The multidimensional vibration isolation performance of the system is evaluated according to the impacts of nonlinearity, the installation height Hz of the isolators, and the relative position Dr of the two middle isolators. The results of analysis demonstrate that applying a value of Hz = 0 produces the best vibration isolation performance overall under strong nonlinearity by avoiding unnecessary secondary peaks in the force transmission rate under harmonic mechanical excitation and ensuring a maximum high-frequency vibration isolation effect. However, applying a weak nonlinearity is better than a strong nonlinearity if Hz is not zero. In contrast, Dr has little effect on the vibration isolation effect of the raft in the x, y, and z directions. Therefore, an equidistant installation with Dr = 0.5 would be considered ideal from the standpoint of installation stability.

Theoretical study on pressure oscillation dominant frequency of bubbles submerged jet under rolling condition

Steam direct contact condensation is a highly efficient heat and mass transfer phenomenon, usually accompanied by strong mass, momentum and energy exchanges at the water-steam interface, which can rapidly realize cooling and pressure relief, but also accompanied by pressure oscillations. When the relevant equipment is used in offshore nuclear power plants and naval non-energetic systems, the additional inertial force field caused by ocean motion may cause greater harm to the safe operation of the relevant devices. Therefore, a theoretical study is conducted to investigate the effect of rolling motion on dominant frequency of steam submerged jets pressure oscillation with low mass fluxes. Firstly, based on bubble dynamics theory, a theoretical model of bubble condensation oscillations under rolling motion with low mass flux is established. Then, the mechanism of the rolling conditions on the dominant frequency of pressure oscillation is analyzed from the aspect of theoretical derivation. Finally, on the basis of the potential flow function theory and small perturbation theory, the predicted correlation of pressure oscillation dominant frequency under the rolling motion with low mass flux is derived, and compared with the numerical simulation results, the prediction deviation is within ±10%.

Experimental study on flow rate and pressure drop characteristics in T-junction pipes under rolling conditions

Numerous T-junction circular channels are used in the pipeline system of marine dynamic platforms. Unlike terrestrial conditions, the fluid inside the channels experiences additional inertial forces due to rolling motion, leading to complex and variable fluid mixing characteristics within T-junction pipes. The flow and pressure drop characteristics were investigated inside the T-junction pipe under rolling motion conditions, including the average value, the fluctuation value, and the instantaneous value. The working fluid is considered as the de-ionized water. The inlet Reynolds number of the main pipe ranges from 2110 to 25 320, and the flow rate ratio is from 1 to 20. The rolling time and angle are 5–15 s and 0°–15°, respectively. The range of rolling Reynolds number is 0–3520. The results indicate that the influence of the rolling motion on the flow and pressure drop characteristics inside the T-junction pipe depends on the inertial force of the fluid itself. When the inertial force of the fluid itself is large, the influence of the rolling motion on the flow parameters will be weakened. The rolling motion has a greater impact on the branch than on the main pipe. Predictive relationships for flow rates and pressure loss coefficients are established under the stationary and rolling conditions, respectively, with a fitting error of less than 10%. In addition, the boundary that ignores the influence of rolling motion on flow fluctuations and the criteria for identifying fluid backflow are also proposed.

Study on multi-scale coupled simulation of natural circulation system with 3×3 petal-shaped fuel bundle channel under rolling condition

Petal-shaped fuel rod encompasses a broad application prospect in sea-based nuclear power plants. A multi-scale coupled simulation is conducted based on natural circulation system with 3×3 petal-shaped fuel bundle channel. A multi-scale coupled model considering rolling motion is developed. Its reliability is verified by existing experimental data. The effect of rolling motion on the characteristics of natural circulation system is thoroughly discussed. The results indicate that if the start-up direction of rolling motion is the same as the direction of flow rate, rolling motion will lead to a sharp decrease in flow rate at the initial moment. By increasing rolling amplitude or decreasing rolling period will cause a significant increase in fluctuation amplitude of flow rate. Compared with the results under static condition, the fluid is subjected to the Coriolis force in the non-inertial coordinate system. This research can provide support for the joint optimization of natural circulation system.