Singularity-free expression of magnetic field of cuboid under undulating terrain

Most of the current computing methods used to determine the magnetic field of a uniformly magnetized cuboid assume that the observation point is located in the upper half space without a source. However, such methods may generate analytical singularities for conditions of undulating terrain. Based on basic geomagnetic field theories, in this study an improved magnetic field expression is derived using an integration method of variable substitution, and all singularity problems for the entire space without a source are discussed and solved. This integration process is simpler than that of previous methods, and final integral results with a more uniform form. AT at all points in the source-flee space can be calculated without requiring coordinate transformation; thus forward modeling is also simplified. Corresponding model tests indicate that the new magnetic field expression is more correct because there is no analytical singularity and can be used with undulating terrain.

Computational Study on a Squid-Like Underwater Robot with Two Undulating Side Fins

The undulating fin propulsion system is an instance of the bio-inspired propulsion systems. In the current study, the swimming motion of a squid-like robot with two undulating side fins, mimicking those of a Stingray or a Cuttlefish, was investigated through flow computation around the body. We used the finite analytic method for space discretization and Euler implicit scheme for time discretization along with the PISO algorithm for velocity pressure coupling. A body-fitted moving grid was generated using the Poisson equation at each time step. Based on the computed results, we discussed the features of the flow field and hydrodynamic forces acting on the body and fin. A simple relationship among the fin＇s principal dimensions was established. Numerical computation was done for various aspect ratios, fin angles and frequencies in order to validate the proposed relationship among principal dimensions. Subsequently, the relationship was examined base on the distribution of pressure difference between upper and lower surfaces and the distribution of the thrust force. In efficiency calculations, the undulating fins showed promising results. Finally, for the fin, the open characteristics from computed data showed satisfactory conformity with the experimental results.

Computational Research on Modular Undulating Fin for Biorobotic Underwater Propulsor

Biomimetic design employs the principles of nature to solve engineering problems. Such designs which are hoped to be quick, efficient, robust, and versatile, have taken advantage of optimization via natural selection. In the present research, an environment-friendly propulsion system mimicking undulating fins of stingray was built. A non-conventional method was considered to model the flexibility of the fins of stingray. A two-degree-of-freedom mechanism comprised of several linkages was designed and constructed to mimic the actual flexible fin, The driving linkages were used to form a mechanical fin consisting of several fin segments, which are able tO produce undulations, similar to those produced by the actual fins. Owing to the modularity of the design of the mechanical fin, various undulating patterns can be realized. Some qualitative observations, obtained by experiments, predicted that the thrusts produced by the mechanical fin are different among various undulating patterns. To fully understand this experimental phenomenon is very important for better performance and energy saving for our biorobotic underwater propulsion system. Here, four basic undulating patterns of the mechanical fin were performed using two-dimensional unsteady computational fluid dynamics （CFD） method. An unstructured, grid-based, unsteady Navier-Stokes solver with automatic adaptive re-meshing was used to compute the unsteady flow around the fin through twenty complete cycles. The pressure distribution on fin surface was computed and integrated to provide fin forces which were decomposed into rift and thrust. The pressure force and friction force were also computed throughout the swimming cycle. Finally, vortex contour maps of these four basic fin undulating patterns were displayed and compared.

Research on Complexity of Surface Undulating Shapes of Rock Joints

The surface undulating shapes of rock joints have been described qualitatively or experimental quantitatively for a long time. The non determined describing method can not fit quantitative evaluation of mechanical parameters of rock joints in engineering. In this paper, relative amplitude ( R A) is chosen as a quantitative describing index of surface measurement of 1 023 surface undulating curves which conducted by profile curve device(PCD). We discuss the nonuniformity,anisotropy and unhomogeneity of surface undulating shapes of joints. A new method that analyzes the complexity of surface undulating shapes of rock joints directional statistically in various rock joints is also put forward.

Locomotion and Depth Control of Robotic Fish with Modular Undulating Fins

This paper presents an environmental-friendly robotic system mimicking the undulating fins of a fish.To mimic the actual flexible fin of real fish,a fin-like mechanism with a series of connecting linkages is modeled and attached to the robotic fish,by virtue of a specially designed strip.Each link is able to turn and slide with respect to the adjacent link.These driving linkages are then used to form a mechanical fin consisting of several fin segments,which are able to produce undulations,similar to those produced by the actual fish fins.Owing to the modular and re-configurable design of the mechanical fin,we are able to construct biomimetic robotic fish with various swimming modes by fin undulations.Some qualitative and workspace observations by experiments of the robotic fish are shown and discussed.

Simulating Error-Opening of Pressure Relief Valves of a Station on a Continuous Undulating Oil Pipeline with Large Elevation Difference

For oil pipeline in mountain areas,high hydrostatic pressure in the pipeline may cause error-opening of pressure relief valves,and oil is discharged from the pipeline to the pressure relief tanks,bringing spilling-over risk of the pressure relief tanks.Therefore,simulating the error-opening situations of the pressure relief valves and investigating the oil discharge process are necessary for checking the possibility of the spilling-over accident and then proposing measures to improve the pressure relief system.This research focuses on a continuous undulating oil pipeline with large elevation difference and a station along this pipeline,which is named B station in this paper,is studied.By OLGA software,simulation model of the pressure relief system of B station is established,and the accuracy of the model is verified by reconstructing a real accident and making a comparison with the actual accident data.The maximum discharge rate reached 8284 m3/h when the pressure relief valve was opened by mistake in the inlet and outlet of the station.The accumulated filling time of the two pressure relief tanks is 200 s,which is in good agreement with the accident data.On this basis,for error-opening of the pressure relief valves at the inlet and outlet of B station,simulation is performed to investigate variations of the discharge velocity,discharge flow rate,accumulated discharge volume and ventilation volume of the vent valve.The discharge velocity is found to be over the maximum velocity allowed for safety consideration.According to the accumulated discharge volume,it is inferred that spilling over of the pressure relief tanks will be caused once error-opening of the pressure relief valve occurs.Also it is judged that the existing breathing valve can not satisfy the ventilation requirement in case of failure of the pressure relief valves.From these simulation results,it is proposed that increasing the number of vent valves,replacing the manual valves with electrically operated valves,and employing security control interlock protection program are improvement measures to guarantee safe,efficient and reliable operation of the pressure relief system at B station.

Wave scattering by undulating bed topography in a two-layer ocean

The problem of wave scattering by undulating bed topography in a two-layer ocean is investigated on the basis of linear theory. In a two-layer fluid with the upper layer having a free surface, there exist two modes of waves propagating at both the free surface of the upper layer and the interface between the two layers. Due to a wave train of a particular mode incident on an obstacle which is bottom-standing on the lower layer, reflected and transmitted waves of both modes are created by the obstacle. For small undulations on the bottom of the lower layer, a perturbation method is employed to obtain first-order reflection and transmission coefficients of both modes for incident wave trains of again both modes in terms of integrals involving the bed-shape fimction. For sinusoidal undulations, numerical results are presented graphically to illustrate the energy transfer between the waves of different modes by the undulating bed.

Scattering of Oblique Surface Water Waves by Thin Vertical Barrier Over Undulating Bed Topography

The present study deals with the scattering of oblique surface water waves by small undulation on the bottom in the presence of a thin vertical barrier. Here, three different configurations of vertical barriers are investigated. Perturbation analysis is employed to determine the physical quantities, namely, the reflection and transmission coefficients. In this analysis, many different Boundary Value Problems (BVPs) are obtained out of which the first two bvps are considered. The zeroth order bvp is solved with the aid of eigenfunction expansion method. The first order reflection and transmission coefficients are derived in terms of the integrals by the method of the Green's integral theorem. The variation of these coefficients is plotted and analyzed for different physical parameters. Furthermore, the energy balance relation, an important relation in the study of water wave scattering, is derived and checked for assuring the correctness of the numerical results for the present problem.

Computational and experimental study on dynamic behavior of underwater robots propelled by bionic undulating fins

Bionic undulating fins, inspired by undulations of the median and/or paired fin (MPF) fish, have a bright prospective for un-derwater missions with higher maneuverability, lower noisy, and higher efficiency. In the present study, a coupled computa-tional fluid dynamics (CFD) model was proposed and implemented to facilitate numerical simulations on hydrodynamic ef-fects of the bionic undulating robots. Hydrodynamic behaviors of underwater robots propelled by two bionic undulating fins were computationally and experimentally studied within the three typical desired movement patterns, i.e., marching, yawing and yawing-while-marching. Moreover, several specific phenomena in the bionic undulation mode were unveiled and dis-cussed by comparison between the CFD and experimental results under the same kinematics parameter sets. The contributed work on the dynamic behavior of the undulating robots is of importance for study on the propulsion mechanism and control algorithms.

Bio-inspired Flow Sensing and Prediction for Fish-like Undulating Locomotion： A CFD-aided Approach

Feedback flow information is of significance to enable underwater locomotion controllers with higher adaptability and efficiency within varying environments. Inspired from fish sensing their external flow via near-body pressure, a computational scheme is proposed and developed in this paper. In conjunction with the scheme, Computational Fluid Dynamics （CFD） is employed to study the bio-inspired fish swimming hydrodynamics. The spatial distribution and temporal variation of the near-body pressure of fish are studied over the whole computational domain. Furthermore, a filtering algorithm is designed and implemented to fuse near-body pressure of one or multiple points for the estimation on the external flow. The simulation results demonstrate that the proposed computational scheme and its corresponding algorithm are both effective to predict the inlet flow velocity by using near-body pressure at distributed spatial points.

Numerical studies of reverse flows controlled by undulating leading edge

The improved delayed detached-eddy simulation(IDDES) method is used to simulate the reverse flows past an NACA0012 airfoil at medium(10°) and large(30°) angles of attack. The numerical results of the baseline configuration are compared with the available measurements. The effects of the undulating leading edge with four different amplitudes are compared and analyzed at angle of attack of 10°. Based on these analyses, the amplitude of A/C=0.04 yields the best performance. Compared with the uncontrolled case, the performances of the undulating leading edge are greatly improved with reducing of the aerodynamic fluctuations. Furthermore, the mechanisms of performance are explored by comparing the local flow structures near the undulations.

THE OPTIMAL MOTION OF TWO-DIMENSIONAL UNDULATING PLATE SWIMMING IN FLUID FLOW

The optimum shape of a two-dimensional undulatory plate in its motion in fluid flow is analyzed and the physical parameters（the thrust and the power）are calculated by the boundary element method.With the commonly used Lagrange multiplier method,only a saddle point of the optimum solution can be obtained,but not the solution itself due to the singularity of the problem.To eliminate the singularity,a method is proposed by adding an amplitude constraint.The new method is a generalization of that proposed by Wu,and it can be applied to more complex cases.The optimum shape of the linearly varying amplitude motion is studied in detail.It is shown that both the maximum and the minimum solutions exist when the frequency is higher than a critical value.For a high frequency,the maximum efficient motion with a large amplitude at the leading edge and a small amplitude at the trailing edge induces a large leading edge suction force.As the frequency decreases,the leading edge suction force decreases to a minimum and then increases.For high wavenumbers,there exists an optimum frequency with the maximum efficiency.High efficiency holds over a large range of frequency.The optimum efficiency increases as the wavenumber increases.The increase of the wavenumber can also reduce the leading edge suction force.The optimization method can also be applied to a quadratically varying amplitude motion.It is found that the optimum efficiency is larger than that for the linearly varying amplitude motion.However,the additional efficiency is relatively small,especially as the original efficiency is already high enough.

Investigations on vortex structures for undulating fin propulsion using phase-locked digital particle image velocimetry

The Gymnarchus niloticus fish can swim in surging and heaving directions only with a long undulating ribbon fin while keeping its body along almost straight line.These features substantially inspire the design of underwater vessels with high maneuverability and station keeping performance,which is characterized by peculiar vortex structures induced by undulating fin propulsion.To reveal the propulsion mechanism under the evolution of these complex vortex structures,the variation of velocity field with the undulating fin’s wave phase on cross section and mid-sagittal plane at wave amplitude of 85°is investigated by phase-locked digital particle image velocimetry(DPIV).Through experimental flow field images,two typical vortex structures are clearly identified,i.e.,streamwise vortex and crescent vortex,which is further explained by supplemental numerical simulations using large eddy simulation.Vortex characteristic and its evolution on cross sections and mid-sagittal planes is investigated,and its relationship with thrust,heave force is also analyzed.It is found that the two kinds of vortexes induce the main hydrodynamic forces in two directions synchronously,which brings the undulating fin propulsion an extra-ordinal maneuverability.The research will be useful for understanding the potential mechanism of this novel propulsion and is of great application prospect in designing more maneuverable underwater vehicles.

Formation Mechanisms of Some Features in Siliceous Upper Cretaceous-Lower Tertiary Beds of Jordan-Undulations, Geodes, Boudinages

Geode, boudinage, and undulation structures are widely distributed in the siliceous beds of the Upper Cretaceous/Tertiary rocks in Jordan. Their formation was attributed to tectonic forces, syngenetic processes, organic disintegration processes, subaquatic gliding, compaction and settlement, and meteoritic impacts. In this work, the structural features in the siliceous beds of Jordan are attributed to an interplay of load and directed pressures, and mineralogical transformation processes (opal-A to opal-CT to quartz), governed by pH changes. Tectonic directed pressure was acting in an ESE-WSW direction and is common in the silicified limestone of Upper Cretaceous.

Direct pre-stack depth migration on rugged topography

Engineering seismic exploration aims at shallow imaging which is confused by statics if the surface is uneven. Direct pre-stack depth migration （DPDM） is based on accurate elevations of sources and receivers, by which static correction is completely abandoned before migration and surely the imaging quality is remarkably improved. To obtain some artificial shot gathers, high-order staggered-grid finite-difference （FD） method is adapted to model acoustic wave propagation. Since the shot gathers are always disturbed by regular interferences, the statics still must be applied to supporting the interference elimination by apparent velocity filtering method. Then all the shot gathers should be removed back to their original positions by reverse statics. Finally, they are migrated by pre-stack reverse-time depth migration and imaged. The numerical experiments show that the DPDM can ideally avoid the mistakes caused by statics and increase imaging precision.

波纹唇鱼染色体核型分析

为了解波纹唇鱼(Cheilinus undulates)的细胞生物学特征,采用植物血凝集素PHA、秋水仙素腹腔注射和空气干燥制片法以头肾组织为材料,对波纹唇鱼的染色体核型进行了研究。结果表明,波纹唇鱼具有染色体48条,核型公式为2n=48=6m+42t,NF=54,未发现随体、次溢痕及性染色体,其核型符合典型的高位类群鱼类核型特征。

极小长高比腔体内混合流体Undulation行波对流

通过二维流体力学基本方程组模拟了具有较强Soret效应(分离比ψ=-0.47)的混合流体在极小长高比(Γ=4)腔体内的Rayleigh-Benard对流运动.研究了极小长高比行波对流的动力学特性,得到了稳定的Undulation行波存在的r值范围,给出了稳定后的Undulation行波摆动周期Tp的变化规律,分析了极小长高比行波对流的r依赖性及稳定性.首次发现极小长高比Γ=4时,与长高比Γ=12和Γ=8时相比,在腔体两端的滚动生成和消失的现象不再出现.讨论了长高比对Undulation行波向行波过渡的影响.

中等长高比腔体内的混合流体Undulation行进波

通过二维流体力学基本方程组模拟了具有较强Soret效应(分离比ψ=-0.47)的混合流体在中等长高比(Γ=12)腔体内的Rayleigh-Benard对流运动。研究了不同瑞利数情况下腔体内出现的各种行进波状态,详细地探讨了Undulation行进波(UTW)的特性、时空结构及稳定性。

野生波纹唇鱼Cheilinus undulates营养成分分析与评价

该研究测定了野生波纹唇鱼Cheilinus undulates肌肉的营养成分。结果显示,波纹唇鱼肌肉(鲜样)的水分、粗蛋白、粗脂肪和粗灰分的含量分别为80.97%、18.38%、0.10%和0.49%。肌肉中含有18种氨基酸,总量为15.70%(鲜重),必需氨基酸含量占氨基酸总量的39.37%,必需氨基酸的组成符合FAO/WHO的标准。氨基酸的支/芳值为2.5654,接近正常人的支/芳值;依据氨基酸评分(AAS)结果,第一限制性氨基酸为苏氨酸(Thr),第二限制性氨基酸为色氨酸(Trp);必需氨基酸指数(EAAI)为68.46;4种鲜味氨基酸(SAA)的总量为31.85%。脂肪酸中二十碳五烯酸(EPA)+二十二碳六烯酸(DHA)的含量为21.86%。含有人体所必需的钠、钾、钙、镁、铁、铜、锌等元素,表明波纹唇鱼具有较高的营养价值。

具有强SORET效应的混合流体Undulation行进波对流斑图

本文通过流体力学基本方程组的数值模拟,探讨了具有强Soret效应(分离比ψ=-0.6)的混合流体Un-dulation行进波对流斑图的动力学特性。在相对瑞利数r<6.436时,首次发现一种没有源缺陷的左右相对传播的CPW(Counter propagating waves)状态向行进波状态的过渡形式。在r=6.436—10.8的范围内,发现了两种不同结构的Undulation行进波对流斑图。当6.436<r<10时,出现了腔体内的平均波数在时间上变化且局部波数或当地波数在空间和时间上连续变化的Undulation行进波对流斑图。当r=10—10.8时,出现了腔体内的平均波数在时间上保持为常数而局部波数或当地波数在空间和时间上连续变化的Undulation行进波斑图。在两种状态下,Undulation行进波的摆动周期随瑞利数r增大而减小,它的对流振幅和Nusselt数随瑞利数r增大而增加。在Undulation行进波斑图形成以前,存在以中心为对称的Undulation行进波斑图,它的存活时间依赖于r。当r增加到11.0时,Undulation行进波过渡到定常对流状态。