Sweeping Motion Research Articles

Effects of trees on mean wind, turbulence and momentum exchange within and above a real urban environment

Large-eddy simulations (LES) are used to gain insight into the effects of trees on turbulence, aerodynamic parameters, and momentum transfer rates characterizing the atmosphere within and above a real urban canopy. Several areas are considered that are part of a neighborhood in the city of Vancouver, BC, Canada where a small fraction of trees are taller than buildings. In this area, eight years of continuous wind and turbulence measurements are available from a 30 m meteorological tower. Data from airborne light detection and ranging (LiDAR) are used to represent both buildings and vegetation at the LES resolution. In the LES algorithm, buildings are accounted through an immersed boundary method, whereas vegetation is parameterized via a location-specific leaf area density. LES are performed including and excluding vegetation from the considered urban areas, varying wind direction and leaf area density. Surface roughness lengths (z0) from both LES and tower measurements are sensitive to the 0≤LAI/λfb<3 parameter, where LAI is the leaf area index and λfb is the frontal area fraction of buildings characterizing a given canopy. For instance, tower measurements predict a 19% seasonal increase in z0, slightly lower than the 27% increase featured by LES for the most representative canopy (leaves-off LAI/λfb=0.74, leaves-on LAI/λfb=2.24). Removing vegetation from such a canopy would cause a dramatic drop of approximately 50% in z0 when compared to the reference summer value. The momentum displacement height (d) from LES also consistently increases as LAI/λfb increases, due in large part to the disproportionate amount of drag that the (few) relatively taller trees exert on the flow. LES and measurements both predict an increase in the ratio of turbulent to mean kinetic energy (TKE/MKE) at the tower sampling height going from winter to summer, and LES also show how including vegetation results in a more (positive) negatively skewed (horizontal) vertical velocity distribution – reflecting a more intermittent velocity field which favors sweep motions when compared to ejections. Within the urban canopy, the effects of trees are twofold: on one hand, they act as a direct momentum sink for the mean flow; on the other, they reduce downward turbulent transport of high-momentum fluid, significantly reducing the wind intensity at the heights where people live and buildings consume energy.

On the reproducibility of expert-operated and robotic ultrasound acquisitions.

We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging. Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface. After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior-posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements. A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.

안정경계층 난류에서의 터빈 후류 특성 연구

In this study, we investigate the wake characteristics in two cases which are laminar inflow and turbulent inflow. To solve the flow with wind turbines and its wake, we use large eddy simulation (LES) technique with actuator line method (ALM) and turbulent inflow of Turbsim. Turbulent inflow which contains the characteristic of the stable atmospheric boundary layer is used. We perform the quantitative analysis of velocity deficit and turbulence intensity in two cases. Time series of velocity deficit at the first, the second column in two cases are compared to observe the performance of wind turbine. The performance in the first column in laminar inflow is overestimated compared to that in turbulent inflow. And we observe that wake in the case with turbulent inflow drive to the span-wise direction and wake recovery in turbulent inflow is more effective. In quadrant analysis of Reynolds stress, the ejection and the sweep motion in turbulent inflow case are bigger than those in laminar inflow case.

Design, fabrication and kinematics of a bio-inspired robotic bat wing

The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats (Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.

Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators

Robot manipulators are increasingly used in minimally invasive surgery (MIS). They are required to have small size, wide workspace, adequate dexterity and payload ability when operating in confined surgical cavity. Snake-like flexible manipulators are well suited to these applications. However, conventional fully actuated snake-like flexible manipulators are difficult to miniaturize and even after miniaturization the payload is very limited. The alternative is to use underactuated snake-like flexible manipulators. Three prevailing designs are tendon-driven continuum manipulators (TCM), tendon-driven serpentine manipulators (TSM) and concentric tube manipulators (CTM). In this paper, the three designs are compared at the mechanism level from the kinematics point of view. The workspace and distal end dexterity are compared for TCM, TSM and CTM with one, two and three sections, respectively. Other aspects of these designs are also discussed, including sweeping motion, scaling, force sensing, stiffness control, etc. From the results, the tendon-driven designs and concentric tube design complement each other in terms of their workspace, which is influenced by the number of sections as well as the length distribution among sections. The tendon-driven designs entail better distal end dexterity while generate larger sweeping motion in positions close to the shaft.

Effects of Inertial Power and Inertial Force on Bat Wings.

The inertial power and inertial force of wings are important factors in evaluating the flight performance of native bats. Based on measurement data of wing size and motions of Eptesicus fuscus, we present a new computational bat wing model with divided fragments of skeletons and membrane. The motions of the model were verified by comparing the joint and tip trajectories with native bats. The influences of flap, sweep, elbow, wrist and digits motions, the effects of different bones and membrane of bat wing, the components on vertical, spanwise and fore-aft directions of the inertial power and force were analyzed. Our results indicate that the flap, sweep, and elbow motions contribute the main inertial power and force; the membrane occupies an important proportion of the inertial power and force; inertial power on flap direction was larger, while variations of inertial forces on different directions were not evident. These methods and results offer insights into flight dynamics in other flying animals and may contribute to the design of future robotic bats.

Aerodynamic Effects of Elevating Motion on Hovering Rigid Hawkmothlike Wings

Flapping of an insect wing can be broadly separated into sweeping, elevating, and rotational motions. The sweeping motion generates forward velocity, and the rotational motion imposes an appropriate angle of attack; both are vital to lift generation. However, the purpose of elevating motion in insect flight remains unclear. In this paper, the aim is to better understand the effects of elevating motion to lift generation and vortex structure development when rigid wings are subjected to three-dimensional simple harmonic motion and hovering hawkmoth flapping motion. Both experimental and numerical techniques are used, and results show that, among the different types of simple harmonic motions considered here, only figure-of-eight motions at a relatively low midstroke angle of attack (25 deg) outperform flapping motions without elevating motion. In this case, lift is enhanced by approximately 11% with insignificant cost to hovering efficiency. The lift enhancement could be attributed to rapid growth of the leading-edge vortex, due to an increase in instantaneous angle of attack when the wing elevates downward during midstroke. For the hawkmoth motion, a small elevating motion has minimal aerodynamic effects, whereas a large one causes reduction in lift due to detachment of the leading-edge vortex from the wing surface. Generally, elevating motion affects lift and power coefficients via four mechanisms: alteration of instantaneous angle of attack, introduction of radial force component, wake capture, and early shedding of leading-edge vortex. Although elevating motion confers a significant lift enhancement to specific sets of flapping-wing kinematics, it is generally detrimental to flight performance.

Numerical study on evolution of subharmonic varicose low-speed streaks in turbulent channel flow

The evolution of two spanwise-aligned low-speed streaks in a wall turbulent flow, triggered by the instability of the subharmonic varicose (SV) mode, is studied by a direct numerical simulation (DNS) method in a small spatial-periodic channel. The results show that the SV low-speed streaks are self-sustained at the early stage, and then transform into subharmonic sinuous (SS) low-speed streaks. Initially, the streamwise vortex sheets are formed by shearing, and then evolve into zigzag vortex sheets due to the mutual induction. As the intensification of the SV low-speed streaks becomes prominent, the tilted streamwise vortex tubes and the V-like streamwise vortex tubes can be formed simultaneously by increasing \( + \frac{{\partial u}} {{\partial x}}\). When the SV low-speed streaks break down, new zigzag streamwise vortices will be generated, thus giving birth to the next sustaining cycle of the SV low-speed streaks. When the second breakdown happens, new secondary V-like streamwise vortices instead of zigzag streamwise vortices will be generated. Because of the sweep motion of the fluid induced by the secondary V-like streamwise vortices, each decayed low-speed streak can be divided into two parts, and each part combines with the part of another streak, finally leading to the formation of SS low-speed streaks.

Wavelet phase analysis of two velocity components to infer the structure of interscale transfers in a turbulent boundary-layer

Scale-dependent phase analysis of velocity time series measured in a zero pressure gradient boundary layer shows that phase coupling between longitudinal and vertical velocity components is strong at both large and small scales, but minimal in the middle of the inertial regime. The same general pattern is observed at all vertical positions studied, but there is stronger phase coherence as the vertical coordinate, y, increases. The phase difference histograms evolve from a unimodal shape at small scales to the development of significant bimodality at the integral scale and above. The asymmetry in the off-diagonal couplings changes sign at the midpoint of the inertial regime, with the small scale relation consistent with intense ejections followed by a more prolonged sweep motion. These results may be interpreted in a manner that is consistent with the action of low speed streaks and hairpin vortices near the wall, with large scale motions further from the wall, the effect of which penetrates to smaller scales. Hence, a measure of phase coupling, when combined with a scale-by-scale decomposition of perpendicular velocity components, is a useful tool for investigating boundary-layer structure and inferring process from single-point measurements.

The inertial power and inertial force of robotic and natural bat wing

Based on the acquired length and angle data of bat skeletons, a four-degree freedom robotic bat wing and an identical computational model with flap, sweep, elbow and wrist motions were presented. By considering the digits motions, a biomimetic bat skeleton model with seven-degree freedom was established as well. The effects of frequency, amplitude and downstroke ratio, as well as the components of inertial power and force on different directions, were studied. The experimental and computational results indicated that the inertial power and force accounted for the largest part on flap direction, the wing fold during upstroke could reduce the inertial power and force.

Unusual sound production mechanism in the triggerfish Rhinecanthus aculeatus (Balistidae).

The ability to produce sound has been known for decades in Balistidae. Sounds of many species have been recorded and a variety of sound-producing mechanisms have been proposed, including teeth stridulation, collision of the buccal teeth and movements of the fins. The best-supported hypothesis involves movements of the pectoral fin against the lateral part of the swimbladder, called a drumming membrane. In this study, we describe for the first time the sounds made by the blackbar triggerfish Rhinecanthus aculeatus, which are like short drum rolls with an average duration of 85 ms, 193 Hz dominant frequency and 136 dB SPL level at 3 cm distance. The sounds are a series of pulses that result from alternate sweeping movements of the right and left pectoral fins, which push a system of three scutes that are forced against the swimbladder wall. Pulses from each fin occur in consecutive pairs. High-speed videos indicate that each pulse consists of two cycles. The first part of each cycle corresponds to the inward buckling of the scutes, whereas the second part of the cycle corresponds to an apparent passive recoil of the scutes and swimbladder wall. This novel sound production mechanism is probably found in many members of Balistidae because these peculiar scutes occur in other species in the family. Comparison of sound characteristics from fishes of different sizes shows that dominant frequency decreases with size in juveniles but not in adults.

Turbulent kinetics of a large wind farm and their impact in the neutral boundary layer

High-resolution large-eddy simulation of the flow over a large wind farm (64 wind turbines) is performed using the HIGRAD/FIRETEC-WindBlade model, which is a high-performance computing wind turbine–atmosphere interaction model that uses the Lagrangian actuator line method to represent rotating turbine blades. These high-resolution large-eddy simulation results are used to parameterize the thrust and power coefficients that contain information about turbine interference effects within the wind farm. Those coefficients are then incorporated into the WRF (Weather Research and Forecasting) model in order to evaluate interference effects in larger-scale models. In the high-resolution WindBlade wind farm simulation, insufficient distance between turbines creates the interference between turbines, including significant vertical variations in momentum and turbulent intensity. The characteristics of the wake are further investigated by analyzing the distribution of the vorticity and turbulent intensity. Quadrant analysis in the turbine and post-turbine areas reveals that the ejection motion induced by the presence of the wind turbines is dominant compared to that in the other quadrants, indicating that the sweep motion is increased at the location where strong wake recovery occurs. Regional-scale WRF simulations reveal that although the turbulent mixing induced by the wind farm is partly diffused to the upper region, there is no significant change in the boundary layer depth. The velocity deficit does not appear to be very sensitive to the local distribution of turbine coefficients. However, differences of about 5% on parameterized turbulent kinetic energy were found depending on the turbine coefficient distribution. Therefore, turbine coefficients that consider interference in the wind farm should be used in wind farm parameterization for larger-scale models to better describe sub-grid scale turbulent processes.

Cy Twombly: late paintings, 2003-2011

Beginning in 2003, when Twombly was seventy-five years old, a fresh surge of creativity brought new energy into his art, expanding upon themes and modes of expression from throughout his career. Characterized by monumentality and flamboyant colour, these works often use large formats to accommodate broad and sweeping motions. Sometimes their surfaces are dense and heavily worked; sometimes they are expressively fluid, incorporating chance elements such as extravagant drips of paint. Favoured motifs such as ships, flowers and mythological references are revisited in new contexts and allowed to interact in unusual ways. Like his earlier output, however, these images continue to engage viewers in an active dialogue, resisting easy interpretation and offering up multiple layers of potential meaning. Concluding with the series known as The Last Paintings, completed only a few months before his death in 2011, these are memorable works in which the gestural intensity of this great artist is vividly preserved.

Laryngeal flow due to longitudinal sweeping motion of the vocal folds and its contribution to auto-oscillation.

Analysis of published depth-kymography data [George, de Mul, Qiu, Rakhorst, and Schutte (2008). Phys. Med. Biol. 53, 2667-2675] shows that, for the subject studied, the flow due to the longitudinal sweeping motion of the vocal folds contributes several percent of a typical acoustic flow at the larynx. This sweeping flow is a maximum when the glottis is closed. This observation suggests that assumption of zero laryngeal flow during the closed phase as a criterion when determining parameters in inverse filtering should be used with caution. Further, these data suggest that the swinging motion contributes work to overcome mechanical losses and thus to assist auto-oscillation.

Space–time pressure–velocity correlations in a turbulent boundary layer

The spatio-temporal pressure–velocity correlation in a turbulent boundary layer is investigated so as to understand the link between pressure fluctuations and turbulent coherent structures. A new experimental set-up is developed to measure the pressure fluctuations at the wall and in the field and, simultaneously, the velocity field by stereoscopic particle image velocimetry. The present measurement area covers the whole boundary layer thickness, and the spatial resolution of the measurement is good enough to assess the representative length scales of the flow. The Reynolds number effect is quantified from the data at $\mathit{Re}_{{\it\theta}}=7300$, 10 000, 18 000. The spatio-temporal three-dimensional structures of the pressure–velocity correlations, $\boldsymbol{R}_{pu}$, $\boldsymbol{R}_{pv}$ and $\boldsymbol{R}_{pw}$, are evaluated. The wall pressure fluctuations are closely coupled with coherent structures which occupy a large region of the boundary layer in the wall-normal and spanwise directions and up to $10{\it\delta}/U_{e}$ in time, where ${\it\delta}$ and $U_{e}$ denote the boundary layer thickness and the free stream velocity. Reynolds number effects are mainly observed on the size and intensity of the pressure–velocity correlations. Conditioning the correlations on the pressure signal sign shows different types of flow phenomena linked to the positive and negative pressure events. For the wall pressure, positive pressure fluctuations appear to be correlated with the leading edge of a large sweeping motion of splatting type followed by a large ejection. The negative pressure fluctuations are linked to a localized ejection upstream, followed by a large sweeping motion downstream. For the pressure fluctuations in the field, in addition to the structures observed with the wall pressure, the pressure–velocity correlations exhibit a significant correlation in a region very extended in time. Such long structures appear to be independent of the one observed at the wall and to grow significantly in time with the Reynolds number when scaling with external variables. When conditioned by the pressure sign, clear ejection and sweeping motions are observed with associated streamwise vortical structures at a scale of the order of $0.2{\it\delta}$. These structures can be linked to the large-scale motion and very-large-scale motion previously observed by different authors and seem to organize in a scheme analogous to the near-wall cycle, but at a much larger scale.

Relationships between pressure, flow, lip motion, and upstream and downstream impedances for the trombone.

This experimental study investigates ten subjects playing the trombone in the lower and mid-high range of the instrument, B♭2 to F4. Several techniques are combined to show the pressures and the impedance spectra upstream and downstream of the lips, the acoustic and total flows into the instrument, the component of the acoustic flow due to the sweeping motion of the lips, and high speed video images of the lip motion and aperture. The waveforms confirm that the inertance of the air in the channel between the lips is usually negligible. For lower notes, the flow caused by the sweeping motion of the lips contributes substantially to the total flow into the mouthpiece. The phase relations among the waveforms are qualitatively similar across the range studied, with no discontinuous behavior. The players normally played at frequencies about 1.1% above that of the impedance peak of the bore, but could play below as well as above this frequency and bend from above to below without discontinuity. The observed lip motion is consistent with two-degree-of-freedom models having varying effective lengths. These provide insight into why lips can auto-oscillate with an inertive or compliant load, or without a downstream resonator.

Dynamic Centrifuge Tests to Evaluate Reinforcing Mechanisms of Soil-Cement Columns in Liquefiable Sand

Four centrifuge tests were performed to investigate the reinforcing mechanisms of soil-cement columns in liquefiable sand. Two unimproved baseline models and two models improved with soil-cement columns were subjected to sine sweep and earthquake base motions of varying intensities to observe acceleration, pore pressure, lateral displacement, and settlement responses. The dynamic records were processed to derive the effective natural frequency of the profiles and to obtain the dynamic stress-strain responses for unimproved and improved soil. It was found that the shear reinforcement mechanisms of columns was not effective in reducing cyclic stress ratios in the treated soil; liquefaction triggering occurred nearly at same time for both unimproved and improved soil cases and the magnitude of the resulting soil settlement was not significantly reduced. When the bases of the columns were free to rotate, the columns rocked within the soil and produced negligible shear stiffening of the soil profile. When the bases of the columns were fixed against rocking, the columns deformed primarily in shear and flexure but the observed increase in natural frequency of the improved profile was much smaller than predicted by assuming shear strain compatibility between the columns and soil. Design equations that account for shear strain incompatibility are shown to give reasonable estimates for the observed natural frequency of the improved soil profile, and these equations suggest that the associated reduction in cyclic shear stress in the improved soil is small. The soil-cement columns did, however, remain intact and would have provided a means for supporting overlying structures even after liquefaction was triggering in the soil.

Physiological effect of sweeping grooming movements in macaque monkey: preliminary data

Grooming is a widespread, essential and complex behavior with social and affiliative valence in the non-human primate world. It was recently proposed that the sweeping movement of allogrooming may activate the CT fibers. Although the C-tactile (CT) fibers is a privileged peripheral channel for perceiving pleasantness in humans, there is no evidence to support a possible physiological role of the fibers during grooming among monkeys. We analyzed the sweeping movements during allogrooming from the kinematic and physiological perspectives. The kinematic analysis, conducted on videos of monkeys groom each other, demonstrated that the velocity of sweeping movement is in the range of the optimal velocity to activate CT fibers (approximately 1–10 cm/sec). The physiological analysis was conducted evaluating the heart rate and the heart rate variability of a monkey receiving sweeps by experimenter. This analysis underlined that 1) a sweep on the back of a male macaque monkey at velocities in the range of 1–10 cm/sec, but not lower or higher, determined a decrement of the heart rate and increment of heart rate variability; and 2) a sweeping movement on the arm of the monkey at the same velocities did not determine any cardio-physiological changes. Human studies underlined that caress done at 1-10 cm/s activate the CT fibers, are perceived as pleasant and determine positive physiological effects. The present preliminary study provides the possible role of CT fibers during the sweeping movements of grooming in macaque monkeys, from both the kinematic and physiological points of view.

Effect of low-level laser therapy in reducing dentinal hypersensitivity and pain following periodontal flap surgery.

This randomized controlled double-blinded split mouth study sought to compare the levels of dentinal hypersensitivity (DH) and pain after 660 nm laser irradiation in test and control sites following periodontal flap surgery. Dentinal hypersensitivity and pain are the two main causes of discomfort after periodontal flap surgery. The analgesic and desensitising property of low-level lasers can be used to reduce postoperative complications following periodontal flap surgery. Thirty patients were enrolled in this study. Periodontal flap surgery was performed on 60 sites. The test site was randomly determined for laser irradiation, and was irradiated by a sweeping motion of 660 nm laser (25 mW, 4.5 J) for 3 min for 3 consecutive days. The control site served as a placebo. Although the laser was used in a similar motion in the control sites, it was not activated postoperatively. A visual analogue scale (VAS) and verbal rating scale (VRS) for pain and DH were recorded for both sites in each patient, on the 1st, 3rd, 5th, and 7th days following flap surgery. There was statistically significant decrease in both DH and pain in the laser-irradiated site on the 7th day following periodontal flap surgery, as compared with the control site (p<0.05). Postoperative DH and pain following periodontal surgery can be reduced by using low-level laser therapy.

The local anaesthetic effect of a dental laser prior to cavity preparation: a pilot volunteer study.

It has been suggested that laser preconditioning can produce dental anaesthesia. This study aimed to assess the response of the dental pulp to laser preconditioning. The effects of laser preconditioning, sham laser (negative control), and composite curing light (positive control) on the response of the dental pulp to electric pulp testing was investigated in this double-blind crossover trial with six volunteers. The Er,Cr:YSGG laser or curing light was shone on a premolar tooth in a sweeping motion for 30 seconds (in the sham treatment, the laser was not activated) in blindfolded volunteers subjected to a consistent aural stimulus. Treatment method at each visit was randomized and performed by a researcher not involved in pulp testing. Teeth were pulp tested twice initially by another member of the research team to get baseline readings, immediately following the treatment, and thereafter every two minutes for 10 minutes. Results were analyzed using analysis of variance and an independent-sample t-test. There were no significant differences in pulpal response between treatments (p>0.05). Laser preconditioning did not affect pulpal response as measured by an electronic pulp tester. Laser preconditioning did not result in any pain or noticeable symptoms for both teeth and soft tissues.