VTechWorks Repository :: Browsing by Author "Mueller, Rolf"

Browsing by Author "Mueller, Rolf"

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Analysis of Bat Biosonar Beampatterns: Biodiversity and Dynamics
Caspers, Philip Bryan (Virginia Tech, 2017-01-24)
Across species, bats exhibit wildly disparate differences in their noseleaf and pinnae shapes. Within Rhinolophid and Hipposiderid families, bats actively deform their pinnae and noseleaf during biosonar operation. Both the pinnae and noseleaf act as acoustic baffles which interact with the outgoing and incoming sound; thus, they form an important interface between the bat and its environment. Beampatterns describe this interface as joint time-frequency transfer functions which vary across spatial direction. This dissertation considers bat biosonar shape diversity and shape dynamics manifest as beampatterns. In the first part, the seemingly disparate set of functional properties resulting from diverse pinnae and noseleaf shape adaptations are considered. The question posed in this part is as follows: (i) what are the common properties between species beampatterns? and (ii) how are beampatterns aligned to a common direction for meaningful analysis? Hence, a quantitative interspecific analysis of the beampattern biodiversity was taken wherein: (i) unit[267]{} different pinnae and noseleaf beampatterns were rotationally aligned to a common direction and (ii) decomposed using principal component analysis, PCA. The first three principal components termed eigenbeams affect beamwidth around the single lobe, symmetric mean beampattern. Dynamic shape adaptations to the pinnae and noseleaf of the greater horseshoe bat (textit{Rhinolophus ferrumequinum}) are also considered. However, the underlying dynamic sensing principles in use are not clear. Hence, this work developed a biomimetic substrate to explore the emission and reception dynamics of the horseshoe bat as a sonar device. The question posed in this part was as follows: how do local features on the noseleaf and pinnae interact individually and when combined together to generate peak dynamic change to the incoming sonar information? Flexible noseleaf and pinnae baffles with different combinations of local shape features were developed. These baffles were then mounted to platforms to biomimetically actuate the noseleaf and pinnae during pulse emission and reception. Motions of the baffle surfaces were synchronized to the incoming and outgoing sonar waveform, and the time-frequency properties of the emission and reception baffles were characterized across spatial direction. Different feature combinations of the noseleaf and pinnae local shape features were ranked for overall dynamic effect.
Analyzing the complexity of bat flight to inspire the design of flapping-flight drones
Tyler, Adam Anthony Murphrey (Virginia Tech, 2024-08-22)
With their exceptionally maneuverable flapping flight, bats could serve as a model for enhancing the flight abilities for future drones. However, bat flight is extremely complex and there are many engineering restrictions that prevent a flapping-flight drone from replicating the many degrees of freedoms present in biology. Hence, to make design choices of which properties in a bats wing kinematics should be reproduced, the present research has evaluated two metrics from information and complexity theory to identify which regions of the bat flight apparatus are most complex and where coupling across features of the bat flight kinematics exists. The values were the complexity metric as a measure of variability and mutual information as a measure of coupling. Both measures were applied to ten experimentally obtained digital models of the flight kinematics in Ridley's leaf-nosed bats as well as the simulated kinematics of a flapping-flight drone inspired by the same bat type. The pilot results obtained indicate that both measures could be useful to discover which elements of flight kinematics should be looked into for understanding and reproducing the maneuvering flight of bats. However, a functional interpretation will require complementary, e.g., aerodynamic metrics.
Backpack Energy Harvester with Human Walking Model
Yuan, Yue (Virginia Tech, 2017-06-05)
The objective of this thesis is to design, analyze, and fabricate an innovative backpack energy harvester for human walking. To model human walking with backpack energy harvester, a simple dual-mass model has been developed and studied first. Dual-mass model for three types of distinct harvesters were investigated, pure damping, traditional rack pinion energy harvester and our MMR based energy harvester. A comparison in the output power and human comfort between the three types of harvesters is discussed. However, the dual-mass model could not effectively represent human walking in real situation with sinusoidal input, like M shaped Ground Reaction Force (GRF), vertical Center of Mass (COM) motion, etc. Thus, a bipedal walking model has been proposed to simulate human walking with backpack harvester. Experiments were conducted to compare power output and efficiency of MMR based backpack energy harvester with traditional rack pinion backpack energy harvester, and verify conclusions from the bipedal walking model that the proposed backpack energy harvester using mechanical motion rectifier (MMR) mechanism has larger power output than traditional backpack energy harvester at different walking speed. In human treadmill test, subjects were asked to wear the backpack frame which embedded with harvesters walking on a treadmill. Two walking speed, 3mph and 3.5mph, and four resistor values has been tested. The test results showed that the MMR based backpack energy harvester generated more power regardless of resistor values and walking speed. Up to 4.84W average power and instant power of 12.8W could be obtained while the subject walking on the treadmill at 3.5mph speed with MMR based backpack energy harvester.
Bat Inspired Lifesize Ornithopter with Passive Lateral Wing Retraction
Kelley, Logan Chaney (Virginia Tech, 2024-05-31)
Bats have a unique flying style that allows them to be highly dexterous in capturing prey and have great freedom of movement in flight. Bats' wings have a wing membrane that is tensioned by their fingers and arms, allowing them to retract their wings laterally in flight. This distinct motion has allowed bats to be the only mammals capable of sustained flight, adding to their evolutionary uniqueness. This thesis presents the creation of the VALKRIE (Versatile Aerial Lifesize Kinetic Robot Inspired by bat Evolution) project: a to-scale simplified bat-inspired ornithopter that can be remotely controlled, sustain flight, and passively retract and extend its wings laterally. VALKRIE mimics the dimensions and size of its biological counterpart, Hipposideros diadema, a medium-sized bat; setting its aerodynamical constraints to the dimensions of Hipposideros diadema. Bats' maneuverability is derived from their unique wing motion while in flight, retracting and extending their wings. VALKRIE mimics this motion by simplifying the joint structure of a bat's wing and passively retracting and extending the wings. By simplifying the complex anatomy of bat wing motion, VALKRIE can maintain flight and generate sufficient lift for increasing altitude. With a simplified design, VALKRIE only has two motors that actuate wing flapping, wing retraction, and rotation of the hind legs. With this simplified design, the operator can remotely control VALKRIE by increasing and decreasing the wingbeat frequency and steering to the right and left with the hind legs.
Bat swarming as an inspiration for multi-agent systems: predation success, active sensing, and collision avoidance
Lin, Yuan (Virginia Tech, 2016-02-22)
Many species of bats primarily use echolocation, a type of active sensing wherein bats emit ultrasonic pulses and listen to echoes, for guidance and navigation. Swarms of such bats are a unique type of multi-agent systems that feature bats's echolocation and flight behaviors. In the work of this dissertation, we used bat swarming as an inspiration for multi-agent systems to study various topics which include predation success, active sensing, and collision avoidance. To investigate the predation success, we modeled a group of bats hunting a number of collectively behaving prey. The modeling results demonstrated the benefit of localized grouping of prey in avoiding predation by bats. In the topics regarding active sensing and collision avoidance, we studied individual behavior in swarms as bats could potentially benefit from information sharing while suffering from frequency jamming, i.e., bats having difficulty in distinguishing between self and peers's information. We conducted field experiments in a cave and found that individual bat increased biosonar output as swarm size increased. The experimental finding indicated that individual bat acquired more sensory information in larger swarms even though there could be frequency jamming risk. In a simulation wherein we modeled bats flying through a tunnel, we showed the increasing collision risk in larger swarms for bats either sharing information or flying independently. Thus, we hypothesized that individual bat increased pulse emissions for more sensory information for collision avoidance while possibly taking advantage of information sharing and coping with frequency jamming during swarming.
Biodiversity and dynamics of direction finding accuracy in bat biosonar
Uzair Gilani, Syed (Virginia Tech, 2016-04-04)
In the biosonar systems of bats, emitted acoustic energy and receiver sensitivity are distributed over direction and frequency through beampattern functions that have diverse and often complicated geometries. This complexity could be used by the animals to determine the direction of incoming sounds based on spectral signatures. The present study in its first part has investigated how well bat biosonar beampatterns are suited for direction finding using a measure of the smallest estimator variance that is possible for a given direction (Cram{'e}r-Rao lower bound, CRLB). CRLB values were estimated for numerical beampattern estimates derived from 330 individual shape samples, 157 noseleaves (used for emission) and 173 outer ears (pinnae). At an assumed unit[60]{dB} signal-to-noise ratio, the average value of the CRLB was 3.9textdegree, which is similar to previous behavioral findings. Distribution for the CRLBs in individual beampatterns were found to have a positive skew indicating the existence of regions where a given beampattern does not support a high accuracy. The highest supported accuracies were for direction finding in elevation (with the exception of phyllostomid emission patterns). Beampatterns in the dataset were also characterized based upon the differences in the type of acoustic signal they are associated with, the functionality of the baffle shape producing them and their phylogeny. In the second part of the study, functionality of various local shape features was investigated under static and dynamic conditions. Each local shape feature was found to have an impact on the estimation performance of the baffle shape. Interaction of the local shape features among themselves as well as their dynamic motion produced a plethora of results, not achievable through either single features or through their static states only.
Biomimetic Detection of Dynamic Signatures in Foliage Echoes
Bhardwaj, Ananya (Virginia Tech, 2021-02-05)
Horseshoe bats (family Rhinolophidae) are among the bat species that dynamically deform their reception baffles (pinnae) and emission baffles (noseleaves) during signal reception and emissions, respectively. These dynamics are a focus of prior studies that demonstrated that these effects could introduce time-variance within emitted and received signals. Recent lab based experiments with biomimetic hardware have shown that these dynamics can also inject time-variant signatures into echoes from simple targets. However, complex foliage echoes, which comprise a large portion of the received echoes and contain useful information for these bats, have not been studied in prior research. We used a biomimetic sonarhead which replicated these dynamics, to collect a large dataset of foliage echoes (>55,000). To generate a neuromorphic representation of echoes that was representative of the neural spikes in bat brains, we developed an auditory processing model based on Horseshoe bat physiological data. Then, machine learning classifiers were employed to classify these spike representations of echoes into distinct groups, based on the presence or absence of dynamics' effects. Our results showed that classification with up to 80% accuracy was possible, indicating the presence of these effects in foliage echoes, and their persistence through the auditory processing. These results suggest that these dynamics' effects might be present in bat brains, and therefore have the potential to inform behavioral decisions. Our results also indicated that potential benefits from these effects might be location specific, as our classifier was more effective in classifying echoes from the same physical location, compared to a dataset with significant variation in recording locations. This result suggested that advantages of these effects may be limited to the context of particular surroundings if the bat brain similarly fails to generalize over variation in locations.
Biomimetic sonar design and the investigation of the role of peripheral dynamics for target classification in bat biosonar
Sutlive, Joseph Vinson (Virginia Tech, 2020-12-17)
The biosonar system of bats has many unique adaptations which allow for navigation in extremely cluttered environments. One such adaptation is the rapid motion of the pinna and noseleaf observed in certain families of old-world bats (Rhinolophidae and Hipposiderae). Little is known about the physical properties about this adaptation affects emitted pulses or incoming echoes. To explore the physical properties of biosonar systems utilizing dynamic peripheries, biomimetic sonar systems have been devised, which can be used to simulate the structural characteristics of the pinna and noseleaf geometry as well as the motor characteristics. Using this method, it was determined that the changing conformations of the biomimetic baffles were responsible for time-variant signatures in echoes. These signatures could be seen in echoes from a variety of both simple and complex target shapes. Then to further the capabilities of the device, an improved actuation system was devised using pneumatic actuation. This allowed for the baffles to make several unique motions as opposed to being restricted to one previously. It was also shown that the distinct motion profiles of the system led to distinct differences in the received acoustic signal. The features encoded by this system could lead to improvements in the development of improved sensing of smaller autonomous systems. GRANT INFORMATION: This work was supported by grants from the Office of Naval Research (ONR) and the Naval Engineering Education Consortium (NEEC). Additional support was provided by an East Asia and Pacific Summer Institutes (EAPSI) fellowship from the National Science Foundation (NSF).
Canonical Decomposition of Wing Kinematics for a Straight Flying Insectivorous Bat
Fan, Xiaozhou (Virginia Tech, 2018-01-22)
Bats are some of the most agile flyers in nature. Their wings are highly articulated which affords them very fine control over shape and form. This thesis investigates the flight of Hipposideros Pratti. The flight pattern studied is nominally level and straight. Measured wing kinematics are used to describe the wing motion. It is shown that Proper Orthogonal Decomposition (POD) can be used to effectively to filter the measured kinematics to eliminate outliers which usually manifest as low energy higher POD modes, but which can impact the stability of aerodynamic simulations. Through aerodynamic simulations it is established that the first two modes from the POD analysis recover 62% of the lift, and reflect a drag force instead of thrust, whereas the first three modes recover 77% of the thrust and even more lift than the native kinematics. This demonstrates that mode 2, which features a combination of spanwise twisting (pitching) and chordwise cambering, is critical for the generation of lift, and more so for thrust. Based on these inferences, it is concluded that the first 7 modes are sufficient to represent the full native kinematics. The aerodynamic simulations are conducted using the immersed boundary method on 128 processors. They utilize a grid of 31 million cells and the bat wing is represented by about 50000 surface elements. The movement of the immersed wing surface is defined by piecewise cubic splines that describe the time evolution of each control point on the wing. The major contribution of this work is the decomposition of the native kinematics into canonical flapping wing physical descriptors comprising of the flapping motion, stroke-plane deviation, pitching motion, chordwise, and spanwise cambering. It is shown that the pitching mode harvests a Leading Edge Vortex (LEV) during the upstroke to produce thrust. It also stabilizes the LEV during downstroke, as a result, larger lift and thrust production is observed. Chordwise cambering mode allows the LEV to glide over and cover a large portion of the wing thus contributing to more lift while the spanwise cambering mode mitigates the intensification of LEV during the upstroke by relative rotation of outer part of the wing ( hand wing ) with respect to the inner part of the wing ( arm wing). While this thesis concerns itself with near straight-level flight, the proposed decomposition can be applied to any complex flight maneuver and provide a basis for unified comparison not only over different bat flight regimes but also across other flying insects and birds.
Closed Loop Control of Muscle Contraction using Functional Electrical Stimulation
Jaramillo Cienfuegos, Paola (Virginia Tech, 2016-02-05)
A promising approach to treat patients with vocal fold paralysis using electrical stimulation is investigated throughout this research work. Functional Electrical Stimulation works by stimulating the atrophied muscle or group of muscles directly by current when the transmission lines between the central nervous system are disrupted. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is two-fold: develop control techniques for muscle contraction to optimize muscle stimulation and develop a small-scale electromagnetic system to provide stimulation to the laryngeal muscles for patients with vocal fold paralysis. These studies; therefore, focus on assessing a linear Proportional-Integral (PI) controller and two nonlinear controllers: Model Reference Adaptive Controller (MRAC) and an Adaptive Augmented PI (ADP-PI) system to identify the most appropriate controller providing effective stimulation of the muscle. Direct stimulation is applied to mouse skeletal muscle in vitro to test the controllers along with numerical simulations for validation of these experimental tests. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the ADP-PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection. Next, the focus of the research work was on the implementation of an electromagnetic system to generate appropriate currents of stimulation using the aforementioned controllers. For this study, Nickel-Titanium shape memory alloys were used to assess activation (contraction) through a two-coil system guided by the controllers. The application of the two-coil system demonstrated the effectiveness of the approach and a main effect was observed between the PI, MRAC, and ADP-PI controllers when following the trajectories. Lastly, a small scale two-coil system is developed for animal testing in the muscle-mass-spring setup. Experiments were successful in generating the appropriate stimulation controlled by the output-based algorithms for muscle contraction. Trials conducted for this study were compared to the muscle contractions observed in the first study. The controllers were able to provide appropriate stimulation to the muscle system to follow the set trajectories: a step, ramp, and sinusoidal input. More trials are required to draw statistical conclusions about the performance of each controller. Regardless, the small-scale two-coil system along with the applied controllers can be reconfigured to be an implantable system and tested for appropriate stimulation of the laryngeal muscles.
Comparison of the Role of Beamwidth in Biological and Engineered Sonar
Todd, Bryan Donald (Virginia Tech, 2017-10-31)
Sonar is an important sensory modality for engineers as well as in nature. In engineering, sonar is the dominating modality for underwater sensing. In biology, it is likely to have been a central factor behind the unprecedented evolutionary success of bats, a highly diverse group that accounts for over 20% of all mammal species. However, it remains unclear to what extent engineered and biosonar follow similar design and operational principles. In the current work, the key sonar design characteristic of beamwidth is examined in technical and biosonar. To this end, beamwidth data has been obtained for 23 engineered sonar systems and from numerical beampattern predictions for 151 emission and reception elements (noseleaves and pinnae) from bat biosonar. Beamwidth data from these sources is compared to the beamwidth of a planar ellipsoidal transducer as a reference. The results show that engineered and biological both obey the basic physical limit on beamwidth as a function of the ratio of aperture size and wavelength. However, beyond that, the beamwidth data revealed very different behaviors between the engineered and the biological sonar systems. Whereas the beamwidths of the technical sonar systems were very close to the planar transducer limit, the biological samples showed a very wide scatter away from this limit. This scatter was as large – if not wider – than what was seen in a small reference data set obtained with random aluminum cones. A possible interpretation of these differences in the variability could be that whereas sonar engineers try to minimize beamwidth subject to constraints on device size, the evolutionary optimization of bat biosonar beampatterns has been directed at other factors that have left beamwidth as a byproduct. Alternatively, the biosonar systems may require beamwidth values that are larger than the physical limit and differ between species and their sensory ecological niches.
Computational Analysis of Straight and Maneuvering Bat Flight Aerodynamics
Windes, Peter William (Virginia Tech, 2020-07-14)
Bats have many impressive flight characteristics such as the ability to rapidly change direction, carry substantial loads, and maintain good flight efficiency. For several years, researchers have been working towards an understanding of the specific aerodynamic phenomena which relate the unique wing structure of bats to their flight abilities. Computational fluid dynamics, a powerful tool used extensively across aerospace research, has led to substantial progress in the understanding of insect flight. However, due to technical challenges, numerical simulation has seen limited use in bat flight research. For this research, we develop, validate, and apply computational modeling techniques to three modes of bat flight: straight flight, sweeping turn, and U-turn maneuver. 3D kinematic data collection was achieved using a 28 camera multi-perspective optical motion capture system. The calibration of the cameras was conducted using a multi-camera self-calibration method. Point correspondences between cameras and frames was achieved using a human-supervised software package developed for this project. After the collection of kinematic data, we carried out aerodynamic flow simulations using the incompressible Navier-Stokes solver, GenIDLEST. The immersed boundary method (IBM) was used to impose moving boundary conditions representing the wing kinematics. Validation of the computational model was preformed through a grid independence study as well as careful evaluation of other relevant simulation parameters. Verification of the model was performed by comparing simulated aerodynamic loads to the expected loads based on the observed flight trajectories. Additionally, we established that we had a sufficient resolution of the wing kinematics, by calculating the sensitivity of the simulation results to the number of kinematic markers used during motion capture. For this study, three particular flights are analyzed—a straight and level flight, a sweeping turn, and a sharp 180 degree turn. During straight flight, typical flight velocities observed in the flight tunnel were 2-3 m/s resulting in a Reynolds number of about 12,000. Lift generation occurred almost exclusively during the downstroke, and peaks mid-downstroke. At the beginning of each downstroke, the effective angle of attack of the wings transitions from negative to positive and a leading edge vortex (LEV) quickly forms. LEVs are known to augment lift generation in flapping flight and allow lift to remain high at large angles of attack. During the end of each downstroke, the LEVs break up and lift drops substantially. As the wingbeat cycle transitions from downstroke to upstroke, the wings rotate such that the wing chordline is vertical as the wing moves upward. This wing rotation is critical for mitigating negative lift during the upstroke. Many of the basic flight mechanisms used for straight flight—i.e. LEV formation, wing rotation during upstrokes—were also observed during the sweeping turn. In addition, asymmetries in the wing kinematics and consequently the aerodynamics were observed. Early in the turn, the bank angle was low and elevated levels of thrust were generated by the outer wing during both the upstroke and downstroke causing a yaw moment. As the bat moved towards the middle of the turn, the bank angle increased to 20-25 degrees. Although the bank angle remained nominally constant during the middle and later portion of the turn, there was variation within each wingbeat cycle. Specifically, the bank angle dropped during each upstroke and subsequently was recovered during each downstroke as a consequence of elevated lift on the outer wing. Banking served to redirect the net force vector laterally causing a radial, centripetal force. Considering the mass of the bat, the nominal flight velocity, and the radius of curvature, the magnitude of the radial force fully explained the expected centripetal acceleration during the middle and later portion of the turn. Over the entire turn, yaw was found to be important in initiating the turn while banking was more important during the middle part of the turn. Over the course of 5 wingbeat cycles, the change in bearing angle (direction of flight) was about 45 degrees. Analysis of the U-turn flight showed many of the same characteristics as were observed during the sweeping turn, as well as a few key differences. The bat's ability to rotate its body rapidly appears to be more limited than its ability to change its trajectory. For this reason, the yaw rotation began about one to two cycles before the rapid bearing angle change and was stretched out over several wingbeat cycles. At the apex of the U-turn, the bat combined a high roll angle with a low flight velocity magnitude to very rapidly redirect its bearing direction and negotiate a low radius of curvature flight trajectory. Increases in roll angle occurred almost exclusively during the downstrokes, while both the upstroke and downstroke were active in generating yaw. Elevated thrust on the left outer wing during the end of the upstroke was observed throughout the flight, and elevated drag on the right inside wing did not appear to have an impact on the turn. We hope that this project motivates and facilitates further computational analysis into bat flight aerodynamics. Additionally, the data and findings will be useful for applications such as the design of bioinspired MAVs or flexible membrane energy harvesting technology.
Continuous Monitoring of High Risk Disaster Areas by Applying Change Detection to Free Satellite Imagery
Roush, Allison Granfield (Virginia Tech, 2024-06-11)
Natural disasters can happen anywhere causing damage to land and infrastructure. When these disasters occur in remote areas without much human traffic, it may take a long time for someone to notice that an event has occurred and to respond to it. Response time and damages could be reduced if the area could be remotely monitored. Many satellites pass over the Earth everyday collecting valuable imagery data that is free to access. However, this data can be difficult to process and use in practical applications such as monitoring an area for changes. Existing programs that use satellite imagery to monitor areas for changes can cost a significant amount of money making it inaccessible to most people. In this paper, a software program is introduced to automatically retrieve, process, and analyze free satellite imagery data and notify the user of significant changes in their area of interest (AOI). First, a software program was developed to automatically download a package of satellite imagery data from Planet Labs that met certain requirements for AOI, date, and cloud cover. A second software program was developed to download this data from the Google Cloud Storage (GCS) space and compare a current image to the composite of previous images in order to detect a change. This program then creates a figure to display the current image, the previous image, the difference area, and a summary table of the difference metrics. This figure is saved and emailed to the user if the differences are greater than the set threshold. This program is also capable of running automatically in the background of a computer every time it is logged in. The success of the program in correctly identifying areas of change was tested in three locations using historical satellite image data. The software was successful in identifying areas of change and delivering this information to the user in an easy to understand summary figure. Overall, the software was able to utilize free satellite imagery to detect changes in disaster areas and deliver a summary report to a user to take action showing that this software could be used in the future as an easy way to monitor disaster areas.
Deep Learning-Driven Modeling of Dynamic Acoustic Sensing in Biommetic Soft Robotic Pinnae
Chakrabarti, Sounak (Virginia Tech, 2024-10-02)
Bats possess remarkably sophisticated biosonar systems that seamlessly integrate the physical encoding of information through intricate ear motions with the neural extraction and processsing of sensory information. While previous studies have endeavored to mimic the pinna (outer ear) dynamics of bats using fixed deformation patterns in biomimetic soft-robotic sonar heads, such physical approaches are inherently limited in their ability to comprehensively explore the vast actuation pattern space that may enable bats to adaptively sense across diverse environments and tasks.To overcome these limitations, this thesis presents the development of deep regression neural networks capable of predicting the beampattern (acoustic radiation pattern) of a soft-robotic pinna as function of its actuator states. The pinna model geometry is derived from a tomographic scan of the right ear of the greater horseshoe bat (textit{Rhinolophus ferrumequinum}. Three virtual actuators are incorporated into this model to simulate a range of shape deformations. For each unique actuation pattern producing a distinct pinna shape conformation, the corresponding ultrasonic beampattern is numerically estimated using a frequency-domain boundary element method (BEM) simulation, providing ground truth data. Two neural networks architectures, a multilayer perceptron (MLP) and a radial basis function network (RBFN) based on von Mises functions were evaluated for their ability to accurately reproduce these numerical beampattern estimates as a function of spherical coordinates azimuth and elevation. Both networks demonstrate comparably low errors in replicating the beampattern data. However, the MLP exhibits significantly higher computational efficiency, reducing training time by 7.4 seconds and inference time by 0.7 seconds compared to the RBFN. The superior computational performance of deep neural network models in inferring biomimetic pinna beampatterns from actuator states enables an extensive exploration of the vast actuation pattern space to identify pinna actuation patterns optimally suited for specific biosonar sensing tasks. This simulation-based approach provides a powerful framework for elucidating the functional principles underlying the dynamic shape adaptations observed in bat biosonar systems.
Design and Analysis of Biomimetic Medusa Robots
Villanueva, Alexis A. (Virginia Tech, 2013-05-08)
The design of unmanned underwater vehicle (UUV) was inspired by the form and functionality of Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency, good room for payload, and a wide range of sizes and morphology. Shape memory alloy (SMA) actuators were selected as the primary source of actuation for the propulsion of the artificial jellyfish node. These actuators offer high power density which enables a compact system size and silent operation which is preferred for surveillance. SMA wires mimic the form and function of natural muscles; allowing for a wider range of applications than conventional actuators. Commercial SMA wires (100 um in diameter) can exhibit a 4% deformation of the initial actuator length with a blocking stress of over 200 MPa. The deformation of SMA wire is not enough to mimic the bell contraction of jellyfish. In order to resolve this problem, a beam-shape composite actuator using SMA wires as the active component, termed as BISMAC, was designed to provide large curvature. The BISMAC design was inspired by rowing jellyfish bell contraction. Characterization of maximum deformation in underwater conditions was performed for different actuator configurations to analyze the effect of design parameters that include silicone thickness, flexible steel thickness and distance between SMA and flexible steel. A constant cross-section (CC) BISMAC of 16 cm in length was found to achieve deformation with a radius of curvature of 3.5 cm. Under equilibrium conditions, the CC-BISMAC was found to achieve 80% of maximum deformation consuming 7.9 J per cycle driven at 16.2 V/0.98 A and frequency of 0.25 Hz. Using the a developed analytical model, an actuator design was fabricated mimicking the maximum deformation profile of the A. aurita. The optimized AA-BISMAC achieved a maximum curvature of 0.428 1/cm as compared to 0.438 1/cm for the A. aurita with an average squared root error of 0.043 (1/cm), 10.2% of maximum A. aurita curvature. BISMAC actuators are unidirectional flexible actuators capable of exhibiting high curvature. To extend the application range of these actuators, they were modified to achieve bidirectional deformation. The new bidirectional actuators termed as "BiFlex" actuators had the capability to achieve large deformation in two directions. The FlexLegs consist of six segments which can be actuated individually. Two different sets of legs were constructed to determine the effect of size. The small legs measured 35.8 mm in height and 63.2 mm in width and the large legs were 97.4 mm in height and 165.4 mm in width. The small FlexLegs achieved a maximum deformation of 12 % and 4 % in the x- and y-direction respectively using a power of 0.7 W while producing a maximum force of 0.023 N. They were also able to withstand a load of 1.18 N. The large FlexLegs had a maximum deformation of 57 % and 39 % in the x- and y-direction respectively using a power of 3 W while producing a force of 0.045 N. They were able to withstand a load of 0.25 N. The legs were also able to perform several walking algorithms consisting of stepping, crabbing and yawing. In order to reduce the power consumption and contraction time of SMA wires, a feedback control scheme using wire resistance was developed. The controller required the knowledge of threshold resistance and safe current inputs which were determined experimentally. The overheating effect of SMA wires was analyzed for BioMetal Fiber (BMF) and Flexinol 100 "m diameter wires revealing an increase in resistance as the wires overheated. The controller was first characterized on a SMA wire with bias spring system for a BMF 100 using I_hi=0.5 A and I_low=0.2 A, where hi corresponds to peak current for fast actuation and low corresponds to the safe current which prevents overheating and maintains desired deformation. A contraction of 4.59% was achieved in 0.06 s using the controller and the deformation was maintained for 2 s at low current. The BISMAC actuator was operated using the controller with I_hi=1.1 A and I_low=0.65 A achieving a 67% decrease in contraction time compared to using a constant driving current of I_low=0.2 A and a 60% decrease in energy consumption compared to using constant I_hi=0.5 A while still exceeding the contraction requirements of the Aurelia aurita. Two fundamental parameters at the composition level were associated with the power consumption of SMA: i) martensite to austentite phase transition temperature and ii) thermal hysteresis. Ideally, one would like to reduce both these quantities and for this purpose an equiatomic Ni-Ti alloy was modified with Cu. Replacing nickel with 10 at% copper reduces the thermal hysteresis by 50% or more. For Ni-Ti alloys with nickel content greater than 50 at%, transition temperature decreases linearly at a rate of 100 "C/Ni at%. Given these two power reducing factors, an alloy with composition of Ni40+xTi50-xCu10 was synthesized with x = 0, ±1, ±2, ±3, ±4, ±5. Metal powders were melted in an argon atmosphere using an RF induction furnace to produce ingots. All the synthesized samples were characterized by differential scanning calorimetric (DSC) analysis to reveal martensite to austenite and austenite to martensite transition temperatures during heating and cooling cycles respectively. Scanning electron microscopy (SEM) was conducted to identify the density and microstructure of the fractured samples. The results show the possibility of achieving low power consuming high performance SMAs. Using the BISMAC actuator and feedback control system, a robotic jellyfish called Robojelly that mimics the morphology and kinematics of the Aurelia aurita species was created. A systematic fabrication technique was developed to replicate the essential structural features of A. aurita. Robojelly's body was fabricated from RTV silicone having a total mass of 242 g and bell diameter of 16.4 cm. Robojelly was able to generate enough thrust in static water conditions to propel itself and achieve a proficiency of 0.19 s-1 while the A. aurita achieves a proficiency of around 0.25 s-1. A thrust analysis based on empirical measurements for natural jellyfish was used to compare the performance of the different robotic configurations. The configuration with best performance was a Robojelly with segmented bell and a passive flap structure. Robojelly was found to consume an average power on the order of 17 W with the actuators not having fully reached thermal steady state. A comparative kinematics analysis was conducted between a natural Aurelia aurita and Robojelly. The resistance feedback controller was implemented to tailor the deformation profile of BISMAC actuators embedded in Robojelly. Robojelly's performance was quantified in terms of thrust production and power consumption during vertical swimming experiments. A maximum average instantaneous thrust production of 0.006 N was achieved at a driving current (Ihi) of 1.5 A with 35% duty cycle. Rapid heating of SMA wires was found to reduce power consumption and increase thrust. The bell kinematic analysis revealed resemblance and differences in bell deformation trajectories of the biomimetic and natural jellyfish. The inflexion point of the A. aurita was found to convert an inner bell trajectory into an outer one during contraction which assists the thrust production. A biomimetic robot inspired by Cyanea capillata, termed as "Cyro", was developed to meet the functional demands of underwater surveillance in defense and civilian applications. The design of Cyro required kinematics of large C. capillata which are elusive creatures. Obtaining accurate kinematic data of animals is essential for many biological studies and bio-inspired engineering applications. Many animals such as the C. capillata however, are either too large or too delicate to transport to controlled environments where accurate kinematic data can easily be obtained. Often, in situ recordings are the only means available but are often subject to multi-axis motion and relative magnification changes with time, which lead to large discrepancies in animal kinematics. In Chapter 5, techniques to compensate for magnification and body rotation of animal footage were developed. A background reference point and animal dimensions were used to account for magnification. A linear fit of body points were used to measure body rotation. These techniques help resolve animal kinematics from in situ video footage. The techniques were applied to a large jellyfish, Cyanea capillata, swimming in ocean waters. The bell kinematics were captured by digitizing exumbrella profiles for two full swimming cycles. Magnification was accounted for by tracking a reference point on the ocean floor and by tracking the C. capillata exumbrella arclength in order to have a constant scale through the swimming cycles. A linear fit of the top bell portion was used to find the body angle with respect to the camera coordinate system. Bell margin trajectories over two swimming cycles confirm the accuracy of the correction techniques. The corrected profiles were filtered and interpolated to provide a set of time-dependent points along the bell. The ability to use in situ footage with significant multi-axis motion provides an opportunity to analyze previously impractical footage for gaining a better understanding of large or delicate organisms. The swimming kinematics of the C. capillata were analyzed after extracting the required kinematics from the in situ video. A discrete model of the exumbrella was developed and used to analyze the kinematics. The exumbrella discretization was done using three different methods. The first method consists of analyzing the animal anatomy for structural and mechanical features. The second method consists of analyzing the bell kinematics for areas of highest deformation over time. The third method consists of optimizing node locations that can provide minimal error with comparison to the digitized profiles. Two kinematic models of the C. capillata swimming motion were developed by fitting Fourier series to the discretized segments and angles formed by each segment. The four-segment anatomical kinematic model was used to analyze the bell kinematics of the C. capillata. It was found that the bell does not deform uniformly over time with segments lagging behind others. Hysteresis between contraction and relaxation was also present through most of the exumbrella. The bell margin had the largest hysteresis with an outer path during contraction and inner path during relaxation. The subumbrella volume was approximated based on the exumbrella kinematics and was found to increase during contraction. Cyro was designed to mimic the morphology and swimming mechanism of the natural counterpart. The body of the vehicle consists of a rigid support structure with linear DC motors which actuate eight mechanical arms. The mechanical arms in conjunction with artificial mesoglea create the hydrodynamic force required for propulsion. The full vehicle measures 170 cm in diameter and has a total mass of 76 kg. An analytical model of the mechanical arm kinematics was developed. The analytical and experimental bell kinematics were analyzed and compared to the C. capillata. Cyro reached the water surface untethered and autonomously from a depth of 182 cm in five actuation cycles. It achieved an average velocity of 8.47 cm/s while consuming an average power of 70 W. A thrust stand was developed to calculate the thrust directly from a single bell segment yielding an average thrust of 27.9 N for the whole vehicle. Steady state velocity during Cyro's swimming test was not reached but the measured performance during its last swim cycle resulted in a cost of transport of 10.9 J/kg m and total efficiency of 3%. It was observed that a passive flexible margin or flap, drastically increases the performance of the Robojelly. The effects of flap length and geometry on Robojelly were analyzed using PIV. The flap was defined as the bell section which is located between the flexion point and bell margin. The flexion point was established as the location where the bell undergoes a significant change compliance and therefore in slope. The flap was analyzed in terms of its kinematics and hydrodynamic contribution. An outer trajectory is achieved by the flap margin during contraction while an inner trajectory is achieved during relaxation. The flap kinematics was found to be replicable using a passive flexible structure. Flaps of constant cross section and varying lengths were put on the robotic vehicle to conduct a systematic parametric study. Robojelly's swimming performance was tested with and without a flap. This revealed a thrust increase 1340% with the addition of a flap. Velocity field measurements were performed using planar Time Resolved Digital Particle Image Velocimetry (TRDPIV) to analyze the change in vortex structures as a function of flap length. The robot input parameters stayed constant over the different configurations tested thus maintaining a near constant power consumption. Non-dimensional circulation results show a dependence on flap kinematics and geometry. The robot was approximated as a series of pitching panels circularly oriented around its apex. The first circulation peak of the pitching panel approximation revealed a normalized standard deviation of 0.23. A piston apparatus was designed and built to test different flexible margin configurations. This apparatus allow the isolation of the flap parameters and remove the uncertainties coming from the robotic vehicle.
Development and Validation of a Child Finite Element Model for Use in Pedestrian Accident Simulations
Meng, Yunzhu (Virginia Tech, 2017-06-09)
Car collisions are the third leading cause of unintentional death and injury among children aged 5 to 14. The pedestrian lower-extremity represents the most frequently injured body region in car-to-pedestrian accidents. Several sub-system tests (head, upper and lower legs) were developed for pedestrian protection in Asia and Europe. However, with exception of a child headform impact test, all other subsystem tests are designed for prediction of adult pedestrian injuries. Due to differences in impact location and material properties, existing subsystem tests and dummies designed for adult pedestrian cannot be used for child pedestrian protection by simple scaling. Thus, the development of a computational child pedestrian model could be a better alternative that characterizes the whole-body response of vehicle-pedestrian interactions and assesses the pedestrian injuries. Although several computational models for child pedestrian were developed in MADYMO/LS-DYNA, each has limitations. Children differ structurally from adults in several ways, which are critical to addressing before studying pediatric pedestrian protection. To aid in the development of accurate pediatric models, child pedestrian lower-extremity data presented in literature were first summarized. This review includes common pedestrian injuries, anatomy, anthropometry, structural and mechanical properties. A Finite Element (FE) model corresponding to a six-year-old child pedestrian (GHBMC 6YO-PS) was developed in LS-DYNA. The model was obtained by linear scaling an existing adult model corresponding to 5th percentile female anthropometry to an average six-year-old child's overall anthropometry taken from literature, and then by morphing to the final target geometry. Initially, the material properties of an adult model were assigned to the child model, and then were updated based on pediatric data during the model validation. Since the lower extremity injuries are the most common injuries in pedestrian accidents, the model validation focus on the pelvis and lower extremity regions. Three-point bending test simulations were performed on the femur and tibia and the results were compared to Post-Mortem Human Subject (PMHS) data. The knee model was also simulated under valgus bending, the primary injury mechanism of the knee under lateral loading. Then, the whole pedestrian model was simulated in lateral impact simulation and its response was compared to PMHS data. Finally, the stability of the child model was tested in a series of pediatric Car-to-Pedestrian Collision (CPC) with pre-impact velocities ranging from 20 km/h up to 60 km/h. Overall, the lower extremity and pelvis models showed biofidelity against PMHS data in component simulations. The stiffness and fracture FE responses showed a good match to PMHS data reported in the literature. The knee model predicted common ligament injuries observed in PMHS tests and a lower bending stiffness than adult data. The pelvis impact force predicted by the child model showed a similar trend with PMHS test data as well. The whole pedestrian model was stable during CPC simulations. In addition, the most common injuries observed in pedestrian accidents including fractures of lower limb bones and ruptures of knee ligaments were predicted by the model. The child model was accepted to be used according to Euro-NCAP protocol, so it will be used by safety researchers in the design of front ends of new vehicles in order to increase pedestrian protection of children.
Discovering the Complex Aerodynamics of Flapping Flight with Bio-kinematics Using Boltzmann and Eulerian Methods
Feaster, Jeffrey Oden (Virginia Tech, 2017-08-31)
The cross-sectional geometry of an insect wing has historically been simplified to a rectangular, elliptic, or having a streamlined airfoil shape. Up until this point, no analysis has utilized a morphologically accurate insect wing. As such, there remains significant questions as to whether or not there are aerodynamic benefits to the wing vein structure accompanying the already known structural improvements. The present study uses a bumblebee specimen (Bombus pensylvanicus) acquired by the author, scanned using a skyscan microCT scanner, and post-processed for computational analysis. The resulting geometry captures the naturally occurring vein structures present in the bee wing and is used to better understand aerodynamic effects of biological corrugation. The aerodynamics associated with a morphologically accurate bee wing geometry are explored in two and three dimensions for the first time. Multiple methodologies are validated with experimental results presented in the literature to capture the fluid dynamics in two dimensions including the Lattice-Boltzmann method and unstructured dynamic remeshing using a Navier-Stokes approach. The effects of wing cross-section are compared first with common geometries used in the literature in two dimensions and then between cross-sections extracted at different locations along the wing span. A three-dimensional methodology is validated and used to compare the true bee wing with one using a rectangular cross-section in symmetric hovering. The influence of spanwise cross-section is revisited in three dimensions and compared to the results found in two-dimensions for the same kinematics in forward flight. The final focus of the dissertation is the first simulation of a morphologically accurate wing using kinematics described in the literature.
Droplet Interface Bilayers for Mechano-Electrical Transduction Featuring Bacterial MscL Channels
Najem, Joseph Samih (Virginia Tech, 2015-12-02)
This dissertation investigates the behavior of the Escherichia Coli mechanosensitive (MS) channel MscL, when incorporated within a droplet interface bilayer (DIB). The activity of MscL channels in an artificial DIB system is demonstrated for the first time in this document. The DIB represents a building block whose repetition can form the basis to a new class of smart materials. The corresponding stimuli-responsive properties can be controlled by the type of biomolecule incorporated into the lipid bilayer, which is in the heart of this material. In the past decade, many research groups have proven the capability of the DIB to host a wide collection of natural and engineered functional biomolecules. However, very little is known about the mechano-electrical transduction capabilities of the DIB. The research present herein specifically seeks to achieve three direct goals: 1) exploring the capabilities of the DIB to serve as a platform for mechano-electrical transduction through the incorporation of bacterial MscL channels, 2) understanding the physics of mechano-electrical transduction in the DIB through the development of theoretical models, and 3) using the developed science to regulate the response of the DIB to a mechanical stimulus. MscL channels, widely known as osmolyte release valves and fundamental elements of the bacterial cytoplasmic membrane, react to increased tension in the membrane. In the event of hypo-osmotic shocks, several channels residing in the membrane of a small cell can generate a massive permeability response to quickly release ions and small molecules, saving bacteria from lysis. Biophysically, MscL is well studied and characterized primarily through the prominent patch clamp technique. Reliable structural models explaining MscL's gating mechanism are proposed based on its homolog's crystal structure modeling, which lead to extensive experimentation. Under an applied tension of ~10 mN/m, the closed channel which consists of a tight bundle of transmembrane helices, transforms into a ring of greatly tilted helices forming an ~8 A water-filled conductive pore. It has also been established that the hydrophobicity of the tight gate, positioned at the intersection of the inner TM1 domains, determines the activation threshold of the channel. Correspondingly, it was found that by decreasing the hydrophobicity of the gate, the tension threshold could be lowered. This property of MscL made possible the design of various controllable valves, primarily for drug delivery purposes. For all the aforementioned properties and based on its fundamental role of translating cell membrane excessive tensions into electrophysiological activities, MscL makes a great fit as a mechanoelectrical transducer in DIBs. The approach presented in this document consists of increasing the tension in the lipid bilayer interface through the application of a dynamic mechanical stimulus. Therefore, a novel and simple experimental apparatus is assembled on an inverted microscope, consisting of two micropipettes (filled with PEG-DMA hydrogel) containing Ag/AgCl wires, a cylindrical oil reservoir glued on top of a thin acrylic sheet, and a piezoelectric oscillator actuator. By using this technique, dynamic tension can be applied by oscillating one droplet, producing deformation of both droplets and area changes of the DIB interface. The tension in the artificial membrane will cause the MS channels to gate, resulting in an increase in the conductance levels of the membrane. The increase in bilayer tension is found to be equal to the sum of increase in tensions in both contributing monolayers. Tension increase in the monolayers occurs due to an increase in surface area of the constant volume aqueous droplets supporting the bilayer. The results show that MS channels are able to gate under an applied dynamic tension. Interestingly, this work has demonstrated that both electrical potential and surface tension need to be controlled to initiate mechanoelectric coupling, a property previously not known for ion channels of this type. Gating events occur consistently at the peak compression, where the tension in the bilayer is maximal. In addition, the experiments show that no activity occurred at low amplitude oscillations (< 62.5um). These two findings basically present an initial proof that gating is occurring and is due to the mechanical excitation, not just a random artifact. The role of the applied potential is also highlighted in this study, where the results show that no gating happens at potentials lower that 80 mV. The third important observation is that the frequency of oscillation has an important impact of the gating probability, where no gating is seen at frequencies higher than 1 Hz or lower than 0.1 Hz. Each of the previous observations is addressed separately in this research. It was found that the range of frequencies to which MscL would respond to in a DIB could be widened by using asymmetrical sinusoidal signals to stimulate the droplets. By increasing the relaxation time and shorting the compression time, a change in the monolayer's surface area is achieved, thus higher tension increase in the bilayer. It was also found that a high membrane potential assists in the opening of MscL as the droplets are stimulated. This is due to the sensitivity of MscL to the polarity of the signal. By using the right polarity the channel could be regulated to become more susceptible to opening, even at tensions lower than the threshold. Finally, it was demonstrated, for the first time, that MscL would gate in asymmetric bilayers without the need to apply a high external potential. Asymmetric bilayers, which are usually composed from different lipids in each leaflet, generate an asymmetric potential at the membrane. This asymmetric potential is proven to be enough to cause MscL to gate in DIBs upon stimulation.
Dynamic Emission Baffle Inspired by Horseshoe Bat Noseleaves
Fu, Yanqing (Virginia Tech, 2016-03-04)
The evolution of bats is characterized by a combination of two key innovations - powered flight and biosonar - that are unique among mammals. Bats still outperform engineered systems in both capabilities by a large margin. Bat biosonar stands out for its ability to encode and extract sensory information using various mechanisms such as adaptive beam width control, dynamic sound emission and reception, as well as cognitive processes. Due to the highly integrated and sophisticated design of their active sonar system, bats can survive in complex and dense environments using just a few simple smart acoustic elements. On the sound emission side, significant features that distinguish bats from the current man-made sonar system are the time-variant shapes of the noseleaves. Noseleaves are baffles that surround the nostrils in bats with nasal pulse emission such as horseshoe bats and can undergo non-rigid deformations large enough to affect their acoustic properties significantly. Behavioral studies have shown that these movements are not random byproducts, but are due to specific muscular action. To understand the underlying physical and engineering principles of the dynamic sensing in horseshoe bats, two experimental prototypes ,i.e. intact noseleaf and simplified noseleaf, have been used. We have integrated techniques of data acquisition, instrument control, additive manufacturing, signal processing, airborne acoustics, 3D modeling and image processing to facilitate this research. 3D models of horseshoe bat noseleaves were obtained by tomographic imaging, reconstructed, and modified in the digital domain to meet the needs of additive manufacturing prototype. Nostrils and anterior leaf were abstracted as an elliptical outlet and a concave baffle in the other prototype. As a reference, a circular outlet and a straight baffle designed. A data acquisition and instrument control system has been developed and integrated with transducers to characterize the dynamic emission system acoustically as well as actuators for recreating the dynamics of the horseshoe bat noseleaf. A conical horn and tube waveguide was designed to couple the loudspeaker to the outlet of bat noseleaf and simplified baffles. A pan-tilt was used to characterize the acoustic properties of the deforming prototypes over direction. By using those techniques, the dynamic effect of the noseleaf was reproduced and characterized. It was suggested that the lancet rotation induced both beam-gain and beamwidth changes. Narrow outlet produced an isotropic beampattern and concave baffle had a significant time-variant and frequency-variant effect with just a small displacement. All those results cast light on the possible functions of the biological morphology and provided new thoughts on the engineering device's design.
The Effect of Thermal Non-Uniformity on Coherent Structures in Supersonic Free Jets
Tang, Joanne Vien (Virginia Tech, 2023-06-28)
Supersonic jet exhaust plumes produce noise in jet engines, which has been a problem in the aerospace field. Researchers are working on ways to reduce this turbulent mixing noise, with little modification to the engine and nozzle. Prior work has shown that total temperature non-uniformity is a noise reduction technique which introduces a stream of cold flow into the heated jet. This method has been shown to cause changes in the exhaust plume and result in a 2±0.5 dB reduction of peak sound pressure levels. The goal of this work is to reveal underlying changes in the spatial-temporal structure of plume instability and turbulence caused by non-uniform total temperature distributions. Studies have demonstrated several methods of jet noise reduction by modifying the turbulent mixing in the exhaust plume. Large-scale turbulent structures have been shown to be the dominant source of noise in heated supersonic jets, especially over long, streamwise distances. Therefore, a large field-of-view measurement is desirable for studying these structures. Time-Resolved Doppler Global Velocimetry (TR-DGV) with a sampling frequency of 50 kHz is used to collect flow velocity data that is resolved in both time and space. The experiments for data collection were performed on a heated supersonic jet at the Virginia Tech Advanced Propulsion and Power Laboratory. A converging-diverging nozzle with a diameter Reynolds number of 850,000 was used to generate a perfectly expanded, heated flow of Mach 1.5 and a nozzle pressure ratio (NPR) of 3.67. The unheated plume was introduced at the center of the nozzle, with a total temperature ratio (TTR) of 2. Comparison of the mean velocity fields shows that the introduction of the cooler temperature flow in the thermally non-uniform case results in a velocity deficit of about 10% compared to the thermally uniform case. The method of spectral proper orthogonal decomposition (SPOD) was used to reveal the large-scale, coherent noise producing mechanisms. SPOD results indicate that the thermally non-uniform case showed a decrease in turbulent kinetic energy compared to the uniform case at all frequencies. Coherent fluctuations start developing further upstream in the thermally non-uniform case. The addition of the unheated plume results in a disruption in the propagation of the Mach waves from the shear layer into the ambient. The results indicate that the total temperature non-uniformity results in a modified exhaust plume and mean flow distribution at the nozzle exit, compared to that of a thermally uniform flow, which past studies have indicated is a method to reduce jet noise.

Browsing by Author "Mueller, Rolf"

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