Velocity Transformation Research Articles

Kinematics characteristics of unsprung mass in a double wishbone suspension based on velocity transformation

Kinematics characteristics of unsprung mass in a double wishbone suspension based on velocity transformation

Scaling of coherent structures in compressible wall-bounded turbulence

Semi-local scales have been widely used in compressible wall-bounded turbulence, but it is still unclear whether they are applicable to the scaling of coherent structures, especially under conditions of high Mach number and cold wall temperature. By scrutinizing the direct numerical simulation dataset at different Mach numbers and wall temperatures, this paper demonstrates that the coherent structures normalized by semi-local scales are universal in size. In addition to this, we find that the ratios of Kolmogorov scales to semi-local scales are independent of Mach number and wall temperature. Thus, Kolmogorov scales can achieve the same scaling effect as the semi-local scales. The velocity spectra are also compared to verify the current scaling method quantitatively. A method to determine the threshold for the vortex identification criterion is proposed, allowing the same threshold for different cases to obtain vortices of similar size. The scaling of other statistics including turbulent kinetic energy, streamwise Reynolds normal stress, and root mean square of fluctuating vorticity is also investigated. A new velocity scale is proposed based on the total-stress-based transformation for mean streamwise velocity, which can collapse the profiles of these statistics more accurately than the semi-local velocity scale. The present paper demonstrates that through appropriate normalization, the structures and statistics of compressible turbulence become universal, reaffirming the validity of Morkovin's hypothesis even for the present high Mach number and cold wall cases.

On the Lundgren hierarchy of helically symmetric turbulence

Abstract This paper analyzes the reduction of the infinite Lundgren-Monin-Novikov (LMN) hierarchy of probability density functions (PDFs) in the statistical theory of helically symmetric turbulence. Lundgren's hierarchy is considered a complete model, i.e. fully describes the joint multi-point statistic of turbulence though at the expense of dealing with an infinite set of integro-differential equations. The LMN hierarchy and its respective side-conditions are transformed to helical coordinates and thus are dimesionally reduced. In the course of development, a number of key questions were solved, namely in particular the transformation of PDFs and sample space velocities into orthonormal coordinate systems. In a validity check it is shown, that the mean momentum equations derived from the helical LMN hierarchy via statistical moment integration are identical to the mean momentum equations derived by direct ensemble averaging the Navier-Stokes equation, in helically symmetric form. Finally, we derive the equation for the characteristic function equivalent to the PDF equation in a helically symmetric frame, which allows to generate arbitrary n^th-order statistical moments by simple differentiation.

Velocity transformation for compressible wall-bounded turbulence—An approach through the mixing length hypothesis

Velocity transformation for compressible wall-bounded turbulence—An approach through the mixing length hypothesis

Nonlinear Trajectory Tracking Controller for Underwater Vehicles with Shifted Center of Mass Model

This paper addresses the issue of trajectory tracking control for an autonomous underwater vehicle in the presence of parameter perturbations and disturbances in three-dimensional space. The control scheme is based on a combination of the backstepping method, the adaptive integral sliding mode control scheme, and velocity transformation resulting from the decomposition of the inertia matrix, which is symmetric. In addition, adaptive laws were applied to eliminate the effects of parameter perturbations and external disturbances. The main feature of the proposed approach is that the vehicle model is not fully symmetric but contains quantities due to the shift of the center of mass. Another important feature of the control scheme is the ability to detect some of the consequences caused by reducing the vehicle model by neglecting dynamic couplings. Numerical results on the five degrees of freedom (DOF) vehicle model show the efficiency, effectiveness, and robustness of the developed controller.

The Central Role of the Relativistic Velocity Transformation in Modern Physics Theory

The Relativistic Velocity Transformation (RVT) is a very valuable tool for understanding the results of experiments. It was first used in 1907 by von Laue to explain the Fresnel-Fizeau light-damping phenomenon associated with the passage of light through a tube filled with a non-dispersive liquid. It is also essential for the prediction of characteristics of modern-day high-energy collision and decay processes. The purpose of the present work is to show that the RVT successes are in no way attributable to the Lorentz Transformation (LT), which is the cornerstone of Einstein’s Special Theory of Relativity (SR) published in 1905. It is shown instead that the space-time transformation (VT) introduced in 1887 by Voigt can be used directly to derive the RVT. This is an important observation since it easily proven the LT is not internally consistent and therefore is not a viable component of relativity theory. There are nonetheless experiments which cannot be understood on the basis of the RVT, but rather require the use of the classical (Galilean) velocity transformation (GVT). It is pointed out the ranges of applicability for the GVT and RVT are mutually exclusive, and that it is a straightforward manner to distinguish between them on the basis of the specific characteristics of the experiments being carried out. The “distance rephrasing procedure” is introduced to prove that the GVT can be used successfully in examples involving light pulses, contrary to what is claimed in SR. Finally, the Law of Causality is shown to lead to a strict proportionality between the timing results of two observers in relative motion to one another. This relationship is referred to as “Newtonian Simultaneity” since it requires that events which are simultaneous for one observer will also be simultaneous for the other, unlike the prediction of remote non-simultaneity (RNS) which follows from the LT. The Newton-Voigt space-time transformation (NVT) employs the Newtonian Simultaneity proportional relationship explicitly and is also consistent with Galileo’s Relativity Principle (RP). It therefore serves as a viable replacement for the LT. Newtonian Simultaneity is also a key element of the Uniform Scaling Method discussed in previous work.

A novel and efficient Hamiltonian dynamic analysis approach for constraint force determination in flexible multibody systems

In the dynamic analysis of flexible multibody systems, Hamiltonian formulations offer advantages in numerical stabilization and systematic handling of systems with varying mass. However, current approaches face challenges. Differential algebraic equations (DAEs) can directly express constraint forces but are computationally inefficient, while ordinary differential equations (ODEs) are more computationally efficient but cannot directly represent constraint forces due to the elimination of the Lagrange multiplier. This paper presents an innovative and efficient dynamic analysis approach based on the Hamiltonian formulation, incorporating velocity transformation and open-constraint coordinate methods. Compared to conventional DAE-based Hamiltonian formulations, our approach conducts analysis efficiently using only independent variables. Compared to conventional ODE-based Hamiltonian formulations, our approach effectively expresses constraint forces through Lagrange multiplier reformulation. Furthermore, when compared to the traditional ODE-based Lagrangian formulation, our approach exhibits superior computational efficiency. Numerical simulations assess our proposed formulation, showing agreement with conventional formulations, shorter calculation time, and alignment with analytical results, confirming the accuracy and usefulness of our approach.

An improved Baldwin–Lomax algebraic wall model for high-speed canonical turbulent boundary layers using established scalings

In this work, we employ well-established relations for compressible turbulent mean flows, including the velocity transformation and algebraic temperature–velocity (TV) relation, to systematically improve the algebraic Baldwin–Lomax (BL) wall model for high-speed zero-pressure-gradient air boundary layers. Any new functions or coefficients fitted by ourselves are avoided. Twelve published direct numerical simulation (DNS) datasets are employed for a priori inspiration and a posteriori examination, with Mach numbers up to 14 under adiabatic, cold and heated walls. The baseline BL model is the widely used one with semilocal scalings. Three targeted modifications are made. First, we employ a total-stress-based transformation (Griffin et al., Proc. Natl Acad. Sci. USA, vol. 118, issue 34, 2021, e2111144118) to the inner-layer eddy viscosity for improved scaling up to the logarithmic region. Second, we utilize the van Driest transformation in the outer layer based on the compressible defect velocity scaling. Third, considering the difficulty in modelling the rapidly varying and singular turbulent Prandtl number near the temperature peak in cold-wall cases, we design a two-layer strategy and use the TV relation to formulate the inner-layer temperature. Numerical results prove that the modifications take effect as designed. The prediction accuracy for mean streamwise velocity is notably improved for diabatic cases, especially in the logarithmic region. Moreover, a significant improvement in mean temperature is realized for both adiabatic and diabatic cases. The mean relative errors of temperature to DNS for all cases are down to 0.4 % in the logarithmic wall-normal coordinate and 3.4 % in the outer coordinate, around one-third of those in the baseline model.

Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

This paper addresses a trajectory tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North–East–Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method, for which the application condition was that the vehicle was symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

A novel mirror-assisted method for full-field vibration measurement of a hollow cylinder using a three-dimensional continuously scanning laser Doppler vibrometer system

A novel general-purpose three-dimensional (3D) continuously scanning laser Doppler vibrometer (CSLDV) system was recently developed by the authors to measure 3D vibration of a structure with a curved surface. As a non-contact system, it can avoid the mass-loading problem in 3D vibration measurement using triaxial accelerometers. In previous studies, the 3D CSLDV system was used to measure 3D full-field vibration of a turbine blade with a curved surface and identify its operating deflection shapes (ODSs) and mode shapes. The 3D CSLDV system had the same level of accuracy as that with a commercial 3D scanning laser Doppler vibrometer system, but can measure many more points in much less time than the latter. However, the 3D CSLDV system can be limited by its field of view, which is a common problem for optical-based measurement devices. Moving the 3D CSLDV system to different positions to measure different parts of a test structure is not practical during 3D CSLDV measurement, since the system has to be re-calibrated once it has been moved, which can be time-consuming and introduce measurement errors. This work proposes a novel mirror-assisted testing methodology for 3D CSLDV measurement that aims to measure vibration of difficult-to-access areas of a structure without moving the 3D CSLDV system during the test, and stitch ODSs of its different parts together to obtain its panoramic 3D ODSs. The proposed methodology includes a novel scan trajectory design method that uses virtual areas of the structure behind the mirror to conduct continuous and synchronous scanning of three laser spots, and a novel velocity transformation method that uses virtual positions of three laser heads behind the mirror to stitch ODSs of different parts of the structure together. To demonstrate the proposed methodology, 3D CSLDV measurement is conducted on an aluminum hollow cylinder specimen, which has difficult-to-access areas such as its side and back surfaces, with the assistance of the mirror to obtain its panoramic 3D ODSs corresponding to its first two modes. Comparison between identified ODSs of the hollow cylinder specimen from the experiment and mode shapes from its finite element model is made and modal assurance criterion values are larger than 0.98.

The Dynamical Equations of the Restricted Three-Body Problem with Poynting-Robertson Drag Force and Variable Masses

The restricted three-body problem (R3BP) is a formulation which defines the motion of a passively gravitating test particle having infinitesimal mass and moving in the gravitational environment of two bodies, called primaries. The R3BP is still an exciting and active research field that has been getting attention of scientists and astronomers because of its applications in dynamics of the solar and stellar systems, lunar theory, and artificial satellites. The equations of motion are usually the starting point in the investigations of the dynamical predictions of the infinitesimal mass. Therefore, in this paper, we examine the derivations of the dynamical equations of the R3BP with Poynting-Robertson (P-R) Drag force and variable masses. In this model formulation, both primaries are assumed to vary their masses under the combined Mestschersky law (CML) and they move in the frame of the GyldenMestschersky equation (GME). Further, the bigger primary is assumed to be emitting radiation force, which is a component of the radiation pressure and the P-R drag. The non- autonomous dynamical equations of the model are derived and converted into the autonomized equations with constant coefficients using the Mestschersky transformation (MT), the CML, the particular solutions of the GMP, and a transformation for the time dependent velocity of light. We observed that the P-R drag of the bigger primary depends on the mass parameter, radiation pressure, velocity of light and the mass variation constant . The derived systems of equations with variable and constant coefficients can be used to model the long-term motion of satellites and planets in binary systems.

Inverse dynamics analysis of a 6-RR-RP-RR parallel manipulator with offset universal joints

AbstractThis paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which emphasize the kinematics and joint performance, this paper studies the dynamical model. First, an iterative algorithm is established through a rigid body velocity transformation, which calculates the input parameters of the link velocity and acceleration. A linear system of equations in matrix form is then established for the entire PM through the Newton–Euler method. By using the generalized minimal residual method (GMRES) to solve the equation system, all the forces and torques on the joints can be obtained, from which the required actuation force can be derived. This method is validated through numerical simulations using the automatic dynamic analysis of multibody systems software. The proposed method is suitable for establishing the dynamic model of complex PMs with redundant or hybrid structures.

Roughness effects on compressible turbulent boundary layers under different Mach numbers and wall temperature conditions

Compressible turbulent boundary layers over a zero-pressure gradient flat plate with three-dimensional sinusoidal roughness are simulated by direct numerical simulation. The roughness effects on surface drag, velocity transformation, and turbulence fluctuation characteristics are analyzed in a wide range of Mach numbers (Ma∞ = 2.25–7.25) and different ratios of wall-to-recovery temperature (Tw/Taw = 0.43 and 0.84) conditions. It is found that the roughness significantly amplifies the surface drag coefficient due to the extra pressure drag induced by roughness, and the relative increase in surface drag induced by the roughness rises by 31.1% when Ma∞ changes from 2.25 to 7.25. Current compressible velocity transformations cannot make the logarithmic region of velocity profiles independent of Tw/Taw conditions for rough cases due to the strong wall heat transfer effect below roughness peak. Therefore, a new velocity transformation (Uρt+) is proposed to make the logarithmic region of Uρt+ profiles and roughness induced a downward shift of Uρt+ profiles (ΔUρt+) in a logarithmic region independent of Ma∞ and Tw/Taw conditions. Further numerical experiments validate that, in hypersonic boundary layers, the relation between ΔUρt+ and equivalent sand-grain roughness height Reynolds number still satisfies the roughness function proposed earlier for incompressible flows. Moreover, roughness significantly changes the distribution of mean turbulent kinetic energy (TKE) in compressible turbulent boundary layers: TKE is suppressed at the bottom of roughness, while reaching its maximum at the roughness peak, which is 50%–60% larger than that in smooth case. Finally, the expansion/compression wave patterns induced by roughness alter the turbulence fluctuations in outer layer.

Velocity and temperature scalings leading to compressible laws of the wall

We exploit the similarity between the mean momentum equation and the mean energy equation and derive transformations for mean temperature profiles in compressible wall-bounded flows. In contrast to prior studies that rely on the strong Reynolds analogy and the presumed similarity between the instantaneous and mean velocity and temperature signals, the discussion in this paper involves the Farve-averaged equations only. We establish that the compressible momentum and energy equations can be made identical to their incompressible counterparts under appropriate normalizations and coordinate transformations. Two types of transformations are explored for illustration purposes: Van Driest (VD)-type transformations and semi-local-type or Trettel–Larsson (TL)-type transformations. In our derivations, it becomes clear that VD-type velocity and temperature transformations hold exclusively within the logarithmic layer. On the other hand, TL-type transformations extend their applicability to incorporate wall-damping effects, at least in principle. Each type of transformation serves its distinct purpose and has its applicable range. However, it is noteworthy that while VD-type transformations can be assessed using measurements obtained from laboratory experiments, TL-type transformations necessitate viscosity and density information typically accessible only through numerical simulations. Finally, we justify the omission of the turbulent kinetic energy transfer term, a term that is unclosed, in the energy equation. This omission leads to closed-form temperature transformations that are valid for both adiabatic and isothermal walls.

The effect of compound channel shape for local scouring and flow dynamics using NaysCUBE-3D RANS at Downstream Tukad Unda River Bali Province

The prediction of sediment transport and flow dynamics are important issues in channel design as the local scouring has an important effect on the shape of the channel, especially on the compound channel. Tukad Unda River in Bali has river section in the form of compound channel. It consists of two sections with different dimension, the main channel and the flood plain. These dimensional differences cause two different flows. Transformation of flow velocity and turbulence cause movement of sediment transport, generates a complex 3D flow structure in the boundary of main channel and floodplain. This study uses morphology data in Tukad Unda River and simulated by using NaysCUBE. NaysCUBE is a three-dimensional numerical modeling which use the Reynold Average Navier Stoke equation (3D RANS model). The result in this study shows the different pattern of flow dynamics and local scouring in the boundary between main channel and floodplain as the concrete block located in that boundary compare to the nature compound channel. In the 40-minute simulation, the nature compound channel represented significant deformation of the river bed in the interface area, with a decrease in elevation of 0.01 meters higher than the compound channel with concrete blocks. while the increase in elevation in the main channel is around 0.09 meters lower than the compound channel with concrete blocks. Application of concrete blocks can be useful to reduce local scour at the interface as the impact of compound channel flow characteristics.

Incorporating intrinsic compressibility effects in velocity transformations for wall-bounded turbulent flows

Incorporating intrinsic compressibility effects in velocity transformations for wall-bounded turbulent flows

Velocity-slip boundary conditions and shape factor effects on MHD hybrid nanofluid flow via converging/diverging channels

The most important objective of this research-work is to investigate the impacts of velocity-slip boundary conditions and shape factor of solid nanoparticles on the hydrodynamic behavior of the nonlinear problem of MHD Jeffery–Hamel hybrid nanofluid flow where the mixture H2O-C2H6O2 (50%-50%) was utilized as a base fluid. Using appropriate velocity transformations, the basic partial differential equations arising from mathematical modeling are transformed into non-linear ordinary differential equations. Afterwards, the determined nonlinear equation was numerically solved utilizing Runge-Kutta-Fehlberg 4th–5th order approach featuring shooting technique and analytically with the help of Duan–Rach Approach (DRA). The impact of active factors like Reynolds number, channel half-angle, Hartman number, base fluids nature, hybrid nanoparticles, velocity-slip boundary conditions, shape and Geometry of solid nanoparticles on hybrid nanofluid velocity and skin friction coefficient are visualized and investigated. The minimal local skin friction is found to be obtainable with the nanoparticles of Platelet form and second-order slip model where a reduction of 70% is gained compared to the local skin friction coefficient with spherical nanoparticles when the Hartmann number is higher. Results obtained also reveal that a higher reduction of 69% in local skin friction coefficient intensity is observed for both hybrid phase Al2O3-Cu and mixture base fluid H2O-C2H6O2 with second-order slip boundary condition model when Knudsen number Kn = 0,08. A comparison was made between the results obtained from this investigation in particular cases and the results obtained via the HAM-based Mathematica package for validation. Also, the obtained analytical DRA data are compared with numerical RKF45 data and the ones represented in the literature. The comparison revealed that the results match perfectly which justifies applicability, validity, and the higher exactness of the adopted Duan-Rach approach.

Near-wall model for compressible turbulent boundary layers based on an inverse velocity transformation

In this work, a near-wall model, which couples the inverse of a recently developed compressible velocity transformation (Griffin et al., Proc. Natl Acad. Sci., vol. 118, 2021, p. 34) and an algebraic temperature–velocity relation, is developed for high-speed turbulent boundary layers. As input, the model requires the mean flow state at one wall-normal height in the inner layer of the boundary layer and at the boundary-layer edge. As output, the model can predict mean temperature and velocity profiles across the entire inner layer, as well as the wall shear stress and heat flux. The model is tested in an a priori sense using a wide database of direct numerical simulation high-Mach-number turbulent channel flows, pipe flows and boundary layers (48 cases, with edge Mach numbers in the range 0.77–11, and semi-local friction Reynolds numbers in the range 170–5700). The present model is significantly more accurate than the classical ordinary differential equation (ODE) model for all cases tested. The model is deployed as a wall model for large-eddy simulations in channel flows with bulk Mach numbers in the range 0.7–4 and friction Reynolds numbers in the range 320–1800. When compared to the classical framework, in the a posteriori sense, the present method greatly improves the predicted heat flux, wall stress, and temperature and velocity profiles, especially in cases with strong heat transfer. In addition, the present model solves one ODE instead of two, and has a computational cost and implementation complexity similar to that of the commonly used ODE model.

A universal velocity transformation for boundary layers with pressure gradients

The logarithmic law of the wall does not capture the mean flow when a boundary layer is subjected to a strong pressure gradient. In such a boundary layer, the mean flow is affected by the spatio-temporal history of the imposed pressure gradient; and accounting for history effects remains a challenge. This work aims to develop a universal mean flow scaling for boundary layers subjected to arbitrary adverse or/and favourable pressure gradients. We derive from the Navier–Stokes equation a velocity transformation that accounts for the history effects and maps the mean flow to the canonical law of the wall. The transformation is tested against channel flows with a suddenly imposed adverse or favourable pressure gradient, boundary layer flows subjected to an adverse pressure gradient, and Couette–Poiseuille flows with a streamwise pressure gradient. It is found that the transformed velocity profiles follow closely the equilibrium law of the wall.

The Many Flaws of the Lorentz Transformation

The Lorentz transformation (LT) is one of the most revered set of relationships in modern physics. Overlooked in this broad assessment are a number of clear inconsistencies in its predictions, however, as will be discussed herein. For example, it makes three predictions which are not consistent with one another: Lorentz-FitzGerald length contraction (FLC), time dilation (TD) and light-speed equality for observers in relative motion to one another. Einstein’s light-speed postulate (LSP) is shown to be unviable by considering a case in which a light source passes by a stationary observer at the same time that it emits a light pulse in the same direction. It is found that, in contradiction to the LSP, that the classical velocity (Galilean) transformation (GVT) is applicable when two observers in relative motion deduce the speed of a light wave from their different perspectives. The LT also stands in violation of the Law of Causality because it fails to recognize that inertial clocks can never change their rate spontaneously; thus its two clocks must always measure elapsed times in the same ratio (Q), contrary to the LT prediction of space-time mixing. The Newton-Voigt transformation (NVT) is consistent with the Law of Causality because it assumes space and time do not mix. It is nonetheless also consistent with the relativistic velocity transformation (RVT) and also with Einstein’s mass-energy equivalence relation E=mc2. The ratio Q of clock rates for two inertial rest frames S and S’ is required input for the NVT. Experimental data obey the Universal Time-dilation Law (UTDL) which states that the measured time Δt obtained by an inertial clock for a given event is inversely proportional to γ(v)= (1-v2c-2)-0.5, where v is the speed of the clock relative to a specific rest frame referred to as the objective rest frame ORS. The Uniform Scaling method employs Q as a conversion factor between the units of time in the two rest frames. It is found that the conversion factors