Suspended Load Research Articles

Suspension and tyre loads estimation of an FSAE car: model development and on-track validation

In this paper a relatively simple model is presented, able to compute the loads on the suspension arms and at the tyres' contact patches of a Formula SAE car starting from telemetry data. The model is based on standard dynamic equilibrium equations, a simplified assumption for the limited-slip differential and a given front-to-rear brake distribution. The model inputs are the signals acquired with common telemetry sensors, which usually equip a Formula SAE vehicle (Inertia Measurement Unit, GPS, potentiometers, Hall sensors). In order to validate the model, some arms of the suspensions were instrumented with strain gauges, and a kinematic model of the suspension, together with its static equilibrium equation set, was set up to relate the arm loads to the forces acting at the tyre-road contact patch. The suspension kinematic and equilibrium models were first validated through static tests, with known forces applied at the wheel hub. Then, the complete vehicle model was validated by comparing the same quantities, relative to some real driving tests on a kart circuit, showing a fairly good agreement between the predicted and the measured loads. The model represents a valuable tool for vehicle design and development for the Formula SAE team.

Grain‐size component dependent storage threshold of orbital cycles in alluvial stratigraphy caused by autogenic dynamics

ABSTRACTNumerical forward modelling and laboratory experiments suggest that autogenic factors in the sediment routing system serve as long‐pass filters, preserving only orbital cycles with a period exceeding the compensation timescale, Tc, or thickness in the depth domain exceeding the compensation depth scale, Hc. For a specific orbital cycle with a certain period, this preservation in alluvial strata occurs unless it exhibits a sufficiently large amplitude. This study stratigraphically confirms, for the first time, the long‐pass filtering of autogenic dynamics using elemental data from the alluvial–lacustrine Sifangtai and Mingshui formations in the Songliao Basin. Spectral analysis of the Si and Zr series in coarse‐grained sediments reveals no cyclic signal with thicknesses below the estimated lower limits of Hc. This implies that the spatial storage threshold for orbital cycles in proxies of the coarse‐grained sediment component is equal to or less than Hc. However, cyclic signals of obliquity and precession with smaller thicknesses are identified in Ti, Fe and Al enriched in the fine‐grained sediment components of the stratigraphy. Notably, previously reported proxies preserving high‐frequency orbital cycles are derived from fine‐grained sediment components, differing from the sedimentation rate series used in the reported experimental studies. Therefore, the authors hypothesize a grain‐size component‐dependent storage threshold, suggesting that the storage threshold of orbital cycles in proxies associated with fine‐grained components is lower. This hypothesis arises from the weaker effect of autogenic dynamics on the content of fine‐grained sediment components transported to the sampling site by a suspended load compared to coarser components that are subjected to stronger autogenic dynamics within or near channels. The hypothesis and model presented propose a dynamic process elucidating the nuanced roles of autogenic dynamics in preserving orbital cycles. This perspective, considering sediment composition, inspires prioritizing proxies enriched in the fine‐grained fraction for identifying allogenic cycles in alluvial strata.

Integrated modelling of flow-sediment transport and power generation in the Three Gorges Reservoir

Reservoirs play a crucial role in regulating runoff and generating energy. However, they also lead to significant sedimentation in the reservoir area. In this study, we propose an integrated model that combines a 1-D hydro- and sediment dynamic module with a power generation module. The model considers both suspended and bed load transports. This model is applied to the Three Gorges Reservoir (TGR) and evaluate its performance against corresponding measurements. The results demonstrate that:① the proposed model accurately reproduces the processes of flow and sediment transport, bed deformation, and power generation during the hydrological years of 2019 and 2020. The relative errors for average discharge and bed deformation volume are <6 % and 10 %, respectively. Moreover, the calculated total power (982 × 108–1115 × 108 kW·h) closely agree with the measured values (969 × 108–1118 × 108 kW·h); ② the inflows of small tributaries have a noticeable impact on the calculated water discharge in the TGR. This impact will lead to a 16 % increase in average discharge and alter the magnitudes and occurrence times of flood peaks; ③ the flocculation of fine sediment particles significantly affects sediment transport, particularly in the sub-reach close to the dam. This flocculation will result in a 37 %–57 % reduction in average suspended sediment discharge and a 63 %–93 % reduction in peak sediment discharge. This research provides a comprehensive tool for simulating flow and sediment transport as well as power generation, which can support the optimal regulation of the TGR.

On the vertical structure of non-buoyant plastics in turbulent transport

Plastic pollution is overflowing in rivers. A limited understanding of the physics of plastic transport in rivers hinders monitoring, the prediction of plastic fate and restricts the implementation of effective mitigation strategies. This study investigates two unexplored aspects of plastic transport dynamics across the near-surface, suspended and bed load layers: (i) the complex settling behaviour of plastics and (ii) their influence on plastic transport in river-like flows. Through hundreds of settling tests and thousands of 3D reconstructed plastic transport experiments, our findings show that plastics exhibit unique settling patterns and orientations, due to their geometric anisotropy, revealing a multimodal distribution of settling velocities. In the transport experiments, particle-bed interactions enhanced mixing beyond what established turbulent transport theories (Rouse profile) could predict in low-turbulence conditions, which extends the bed load layer beyond the classic definition of the bed load layer thickness for natural sediments. We propose a new vertical structure of turbulent transport equation that considers the stochastic nature of heterogeneous negatively buoyant plastics and their singularities.

Forecasting empirical formula for suspended sediment load prediction at upstream of Al-Kufa barrage, Kufa City, Iraq

Abstract The objective of this study was to predict the suspended sediment load at upstream of the Al Kufa barrage. Ten cross-sections in the upstream region have been identified to collect field measurements. As part of the inquiry, the fluid and hydraulic parameters were measured in the field and sediment samples were collected in sections to develop an empirical formula. These variables included the gravitational constant (g), hydraulic radius (R h), mean velocity (V), median particle size (d 50), river top breadth (B), kinematic viscosity (v), and (ρ) water density. The formula was created using both statistical analysis and dimensional analysis techniques. The results showed that the newly developed formula agreed well between the calculated and observed suspended sediment discharges based on the determination coefficient R 2 of 0.979. There was a very high acceptance between the average sediment discharge from the new formula, equal to 7.365 kg/s, and the average sediment discharge from field measurements (7.142 kg/s).

Optical water characterization and atmospheric correction assessment of estuarine and coastal waters around the AERONET-OC Bahia Blanca

The site AERONET-OC Bahía Blanca (BB-AERONET-OC) is located at the mouth of the Bahía Blanca Estuary, Argentina (Southwestern Atlantic Ocean), a coastal system defined by its high suspended loads and relatively low colored dissolved organic matter. The typically high turbidity of these waters makes the BB-AERONET-OC distinctive within the AERONET-OC network stations, providing exceptional opportunities not only for the validation of atmospheric correction algorithms but also for the development of regional algorithms for coastal complex waters. A SeaWiFS Photometer Revision for Incident Surface Measurements (SeaPRISM) instrument was deployed in January 2020 in the upper rail of a Mareograph Tower, a 15 m tall structure, located 10 miles away from the coast in optically deep waters. In this work we used the remote sensing reflectance (Rrs) derived from the BB-AERONET-OC measurements along with in situ hyperspectral radiometric data to classify optical water types (OWTs). We assigned each Rrs(λ) spectra to one of the five OWTs defined by Tran et al., and OWTs were further characterized with the concentrations of optically significant components (chlorophyll-a and suspended particulate matter) and inherent optical properties (absorptions of phytoplankton, non-algal particles, and dissolved organic matter), retrieved from water samples obtained simultaneously with radiometric spectra. Based on a match-up exercise with in situ data, different schemes of atmospheric correction methods were applied to Sentinel-3 Ocean and Land Colour Instrument (OLCI) images. The operational product OLCI Level 2 European Space Agency (ESA) standard (hereafter referred to as “Standard Neural Network (NN)”) proves to be the most suitable atmospheric correction algorithm, which was then used to describe spatial patterns and temporal variability of the different OWTs in the region. The BB-AERONET-OC site is located in a sharp transition between estuarine and coastal waters that present contrasting optical conditions: OWT 4 dominates over time (73.72% of the observations), followed by OWT 3 (24.74%) and OWT 5 (1.53%). OWTs 4 and 5 are associated with turbid waters of the Bahía Blanca Estuary, especially OWT 5, which typifies the very turbid waters from the inner estuary, with the particulate load dominated by mineral sediments and detritus. OWT 3, in turn, depicts the eutrophic coastal waters of the inner shelf. The variability of OWTs and the relative contribution of organic and inorganic compounds to the suspended material would be mostly related with the prevalence of northwest winds in the area, which would drive the export of estuarine sediments to the shelf.

Gravity‐Driven Differences in Fluvial Sediment Transport on Mars and Earth

AbstractThere is abundant evidence from fluvial landforms and deposits that Mars had rivers that actively transported sediment and shaped its surface. Sediment transport equations are playing a key role in quantifying river processes from these observations, which continue to increase in quality and quantity. In this study, we review sediment transport equations developed on Earth and isolate the effect of gravity for the case of an alluvial channel. We compare 33 formulas used to calculate the sediment transport rate, under transport‐limited conditions, for grain sizes that range from silt to boulders and a lognormal sediment distribution. Results indicate that for a given discharge, channel morphology and grain size, the lower gravity on Mars compared to Earth results in: (a) larger grains mobilized on Mars and transported in suspension, and (b) larger suspended sediment transport rates on Mars and therefore larger total transport rates. Importantly, the effect of gravity is different for bed load and suspended load, with nonlinearity at the bed load‐suspended load transition zone. Therefore, typical total‐load transport relations that do not distinguish between bedload and suspended load are not appropriate for other planets as they simplify the effect of gravity. Gravity‐driven differences in fluvial sediment transport should produce differences in sediment sorting, morphology and stratigraphy between Earth and Mars. Additionally, our results show how Earth‐derived fluvial sediment transport theory can be applied beyond Mars to other planets and moons.

Precipitation-dependent sensitivity of suspended sediment concentration to turbidity in a mountainous river in southwestern China

Suspended sediment concentration (SSC) has been used as a key indicator in various environmental studies concerning, for example, ecological integrity, river morphology, aquatic and riverine biota, and the management of river and reservoir systems. River turbidity has been widely used as a proxy indicator of SSC. However, the relationship between the two parameters varies considerably under different conditions. The present study investigated the relationships between SSC and turbidity under different rainfall conditions in the Baisha River, a mountainous river located in southwestern China. Data were continuously collected on site from 2015 to 2021. The results showed a significant positive correlation between SSC and turbidity, with the median slope model exhibiting the best linear fit. In addition, the linear regression slopes varied significantly between different seasons and rainfall intensities in the following descending orders: dry season (1.05) > rainy season (0.97), no rainfall (1.14) > non-erosive rainfall (0.99) > erosive rainfall (0.95), and mild rainfall (1.05) > moderate rainfall (0.97) > heavy rainfall (0.93) > rainstorm (0.89). Overall, during the rainy season and under higher rainfall intensities, the regression slope was gentler. This study discussed the mechanisms through which rainfall conditions affected the SSC-turbidity relationship. It was shown that such a relationship was generally influenced by sediment transport in the runoff and river water flow flux, and the number of suspended particles as well as their size were considered as main factors. The results of this study revealed the impact of rainfall conditions on the SSC-turbidity relationship and provided a reference for the rapid assessment of the suspended sediment load in mountain river basins at high altitudes. In addition, based on the results obtained, it is expected that a new method for predicting event-based soil erosion can be applied in similar high-altitude mountain valleys.

Flatness‐based sliding mode control for stabilizing a spherical pendulum on a quadrotor

AbstractThis paper presents the problem of transporting a suspended load by a quadrotor. A full model considering the quadrotor and the dynamics of the suspended load, in a three‐dimensional space, is proposed considering as control inputs the torques and the thrust force due to the motors. The solution proposed consists of simple control strategies based on the tangent linearization of the model, which is controllable and therefore flat. A sliding mode control technique is developed for the thrust force and torques associated with the Euler angles in order to track a desired trajectory of the vehicle in a three‐dimensional space with minimum oscillation of the suspended load. The control strategy results to be relatively simple to implement and achieves local stability of the tracking errors, as well as robustness to internal nonlinearities, which are neglected in the linearization process and other external disturbances. The attractiveness of the sliding surfaces and the stability of the tracking errors are formally studied using Lyapunov stability theory. Simulation results are given to show the performance of the proposed control strategy.

Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors

Payload transportation and manipulation by rotorcraft drones are receiving a lot of attention from the military, industrial and logistics research areas. The interactions between the UAV and the payload, plus the means of object attachment or manipulation (such as cables or anthropomorphic robotic arms), may be nonlinear, introducing difficulties in the overall system performance. In this paper, we focus on the current state of the art of aerial transportation systems with suspended loads by a single UAV and a team of them and present a review of different dynamic cable models and control systems. We cover the last sixteen years of the existing literature, and we add a discussion for evaluating the main trends in the referenced research works.

Experimental and numerical study on the breaching mechanisms of landslide dams with non-uniform structures

Landslide dams often exhibit non-uniform structures due to the rapid and dynamic accumulation of various types of landslide materials. These variations in dam composition significantly impact breach progression, causing significant errors in current model tests and numerical simulations with uniform structure assumptions This adversely affects peak flow predictions and decisions related to risk prevention and control. This study conducted a series of flume tests to examine the influence of non-uniform structures on the failure mechanisms of landslide dams. A 3D dam breach model was used to replicate these flume experiments and obtain more detailed information. Large Eddy Simulation (LES) captures the hydraulic features of dam-break flow, while equilibrium equations model morphological changes in landslide dams amid complex terrains using suspended and bed load transport. The findings indicate that in a uniform dam, the presence of coarse particles shifts erosion characteristics from layered erosion to step-pool development. Furthermore, as the content of coarse particles increases, the number of steps also rises. In the vertically non-uniform structure, the upper layer affects the formation of the breach, the middle layer affects the dam break and the breach flow, and the bottom layer affects the remaining dam height. The presence of an armor layer results in a higher water level and accelerates breach formation with a larger breach flow. In the horizontally non-uniform structure, the upper part of the overflow side is the core area of the breach, the lower part of the overflow side and the upper part of the opposite side affect the downcutting and widening rates of the breach, respectively. Preferentially, the breach tends to develop towards the relatively weaker of the two sides.

Applying a transfer function model to improve the sediment rating curve

ABSTRACT Information relating to suspended sediment load is of particular importance in terms of water management and environmental protection schemes. The sediment rating curve (SRC) is used to express the common relation between suspended sediment load and flow discharge in a basin. SRC, however, does not consider the effect of time lag in flow discharge; instead, it makes a kind of bias in its estimation, toward overestimation or underestimation of a sediment load. In this direction, the current research aims to improve and extend the SRC model by using a transfer function method. The proposed method was applied to a specific basin to better capture the effect of time lag on suspended sediment load estimation. This function estimated the current sediment load in current time. Three case studies were conducted in different climate conditions of Iran to evaluate the application of transfer function with SRC in assessing the relation between flow and suspended sediment discharge. The results revealed that the transfer function method demonstrated high precision in forecasting suspended sediment load, as evidenced by its mean absolute difference (MADIF) and bias criterion calculations. The findings indicated that the proposed method could enhance the accuracy of sediment load estimations in basins with similar characteristics. This approach was based on an unbiased future forecast and provided a high level of confidence. The results suggested that this method could be successfully applied to other basins to improve the accuracy of sediment load estimations.

Physicochemical and mineral properties of suspended sediments of the Tigris and Euphrates rivers in the Mesopotamian Plain

Most of the suspended river load from the Tigris and Euphrates rivers is deposited in the Mesopotamian Plain in Iraq. This suspended river load comprises sediments consisting of minerals and organic particles generated from weathering, erosion, transport, and sedimentation. Therefore, it is crucial to analyze, either quantitative or qualitatively, the types of minerals in the sediment particles transported by the suspended river load, in addition to the potential value they may add to the agricultural lands irrigated by the Tigris and Euphrates rivers. Herein, samples of suspended sediments were collected from both rivers for physical, chemical, and mineral assessments. The results revealed the predominance of silt particles, followed by clay, and then sand. The presence of clay particles increased while that of silt and sand decreased with further travel into the rivers. The pH values ranged from 7.39 to 7.70 and the electrical conductivity ranged from 1.39 to 2.16 ds m−1. The values of the total and active calcium carbonate minerals were 352.87–336.12 and 172.64–194.56 g kg−1 for the Tigris and Euphrates rivers, respectively. The mineral analysis identified the presence of non-clay minerals at a rate of 83 %, including calcite, quartz, albite, dolomite, and gypsum. Clay minerals, including chlorite, illite, montmorillonite, palygorskite, vermiculite, and kaolinite, were found at a rate of 17 %. Both rivers exhibited distributions of clay and non-clay minerals that vary as they move along the rivers.

Assessing geomorphic and hydraulic changes related to an unplanned reconnection of the middle Mississippi River and its floodplain near Miller City, Illinois, USA

The 2016 Len Small Levee breach and the decision not to repair this breach provides a unique opportunity to study the geomorphic and hydraulic changes associated with floodplain reconnection along a large (~30 km long) meander of the Mississippi River known as Dogtooth Bend. This study evaluates recent geomorphic, hydraulic, and sediment-transport capacity changes related to the breaching of the Len Small Levee and the development of cutoff channels across the neck of Dogtooth Bend. We also assess actions undertaken to mitigate further development of cutoff channels across Dogtooth Bend. To address these goals, we perform geomorphic change detection (GCD) analysis and hydrodynamic modeling to assess the geomorphic and hydraulic changes within both the Mississippi's river-connected floodplain and channel.GCD analysis using digital elevation models (DEMs) of the floodplain from pre (2011) and post (2020) levee breach showed net deposition of 23 million tons (MT) of sediment across the reconnected portion of Dogtooth Bend floodplain alone and an additional 34 MT within the batture (the land between the channel's low-water elevation and the flood-mitigation levee). Converting these deposition masses to deposition rates indicates ~5.7 MT yr−1 of deposition within the river-connected floodplain, which is equivalent to ~6 % of the average annual suspended load (~89 MT yr−1) showing this floodplain area is currently a substantial sink for river-transported sediments.In 2021, the U.S. Army Corps of Engineers constructed a grade-control structure down gradient of the levee breach to inhibit the development of cutoff channels across the neck of Dogtooth Bend. Our modeling indicates the addition of this grade-control structure could decrease peak discharge by up to ~15 % and annual flow volume by half assuming channel conveyance remains similar to 2020 conditions. However, sediment-transport-capacity modeling revealed the decrease in flow across Dogtooth Bend attributed to the grade-control structure did not translate into an increase in sediment-transport capacity within the main channel. Assessment of critical shear stress of erosion for fine-grained cohesive materials across Dogtooth Bend suggests conditions favorable to scouring along the actively forming cutoff channels even with the grade-control structure in place. These observations taken together suggest the current river management efforts may not be sufficient in preventing a meander cutoff over the long-term.

Contactless control of suspended loads for offshore installations: Proof of concept using magnetic interaction

Current offshore wind turbine installation and positioning methods require mechanical equipment attached on the lifted components and human intervention. The present paper studies the development of a contactless motion compensation technique by investigating a magnetically controlled pendulum. The technique involves the interaction of a magnetic pendulum with an electromagnetic actuator. Two control modes are considered: the imposition of a desired motion to the mass and the motion attenuation of a prescribed pivot excitation. The numerical model is validated and calibrated against experiments and demonstrates excellent predictive capabilities. The control exerted is effective for a broad range of excitation frequencies and amplitudes. Important parameters associated with the performance of the technique such as the separation distance of the magnets and the saturation of the controller are identified. The controllability regions for effective control depending on the characteristics of the excitation are derived. The force amplitude of the contactless actuator is comparable to currently-used active tugger line control systems, but with the additional advantage of both attractive and repulsive forces. The findings of this paper illuminate the path for the further development of a non-contact control technique which has the potential to increase the efficiency of offshore wind installations.

Using artificial neural network with clustering techniques to predict the suspended sediment load

Using artificial neural network with clustering techniques to predict the suspended sediment load

The Signature of Climate in Fluvial Suspended Sediment Records

AbstractArid regions are often characterized by exceptionally high rates of fluvial sediment transport, but the processes responsible for this apparent connection between climate and sediment transport remain unclear. We examined decades of continuous flow records and suspended sediment concentrations from 71 rivers across the United States by comparing the suspended sediment rating curve behavior, quantified using power law coefficients and exponents, to an aridity index. Results indicate that higher aridity correlates with both greater overall suspended sediment concentration and lower sensitivity of concentration to changes in discharge, demonstrating that rivers in arid locations on average have greater suspended sediment transport efficiency across most discharges, and achieve high transport rates at a relatively lower discharge than rivers in temperate climates. Furthermore, based on additional analyses of the Normalized Difference Vegetation Index, specific suspended sediment yield, and a hydrograph flashiness index, we attribute the relationships between sediment transport and climate primarily to differences in vegetation density, precipitation, and runoff, variables that all influence both sediment supply and riverbed grain sorting. Finally, we note that the observed contrasts in sediment transport behavior likely represent climate‐driven differences in the magnitude and frequency of sediment supply rather than annual suspended sediment load, which does not depend significantly on climate. This study highlights a critical connection between multiple interrelated climatic factors and sediment transport, an important finding for future hazard mitigation in a changing climate with rapidly shifting vegetation patterns and hydrology.

Improved quantum artificial bee colony algorithm-optimized artificial intelligence models for suspended sediment load predicting

Improved quantum artificial bee colony algorithm-optimized artificial intelligence models for suspended sediment load predicting

Numerical Modeling of Sediment Transport and Bed Evolution in Nonuniform Open-Channel Flows

Abstract The shallow-water and multilayer hydrostatic models have been commonly used to analyze the problems of a sediment-laden, plane open-channel flow. The models are adequate to solve a quasi-hydrostatic flow problem, but their accuracy deteriorates as the e ects of the vertical acceleration gain in significance. Herein, a higher-order numerical model for treating the problems of unsteady, plane open-channel flow over a movable bed is proposed. In this model, the flow hydrodynamics is governed by the depth-averaged Boussinesq-type equations, and the bed morphodynamics is determined by an Exner-type equation and additional equations describing the non-equilibrium transports of suspended load and bed load. A hybrid finite-volume and finite-di erence scheme was used to discretize and solve the governing equations, yielding solutions that are in satisfactory agreement with the experimental data. Overall, the results of the proposed model for the temporal free-surface profile and bed evolution were fairly adequate. For the two particular cases considered, however, the quality of its results was moderately a ected by the e ects of the three-dimensional characteristics of the dam-break flow and the sliding of the dike body due to sub-surface flow. The results of this investigation highlight the importance of including a higher-order Boussinesq-type correction for refining sediment transport computations.

Trajectory Tracking Control for Quadrotor Slung Load System With Unknown Load's Linear Velocity and Cable Length

This paper addresses the trajectory tracking control problem for a quadrotor suspended load system without load's linear velocity measurement and cable length information. Firstly, the cable length is estimated by designing an immersion and invariance ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbf{I\&amp;I}$</tex-math></inline-formula> )-based adaptive law. Secondly, a virtual thrust force vector is designed for the load position subsystem with the denoted auxiliary variables in the lack of load's linear velocity measurement. Then, through the cable direction subsystem and quadrotor attitude subsystem, the angular velocity input is presented to drive the real thrust input to virtual thrust input via the backstepping method. Thereafter, the uniformly boundedness of the whole closed-loop system is obtained by means of building suitable Lyapunov functions. Ultimately, numerical simulations attest to the performance of the proposed trajectory tracking control law.