Flow-vegetation interactions at the plant-scale: the importance of volumetric canopy morphology on flow field dynamics

Vegetation is abundant in rivers, and has a significant influence on their hydraulic, geomorphological, and ecological functioning. However, past modelling of the influence of vegetation has generally neglected the complexity of natural plants. This thesis develops a novel numerical representation of flow through and around floodplain and riparian vegetation, focusing on flow-vegetation interactions at the plant-scale. The plant volumetric canopy morphology, which comprises the distribution of vegetal elements over the three-dimensional plant structure, is accurately captured at the millimetre scale spatial resolution using Terrestrial Laser Scanning (TLS), and incorporated into a Computational Fluid Dynamics (CFD) model used to predict flow. Numerical modelling, with vegetation conceptualised as a porous blockage, is used to improve the process-understanding of flow-vegetation interactions. Model predictions are validated against flume experiments, with plant motion dynamics investigated, and analysis extended to consider turbulent flow structures and the plant drag response. Results demonstrate the spatially heterogeneous velocity fields associated with plant volumetric canopy morphology. The presence of leaves, in addition to the posture and aspect of the plant, significantly modifies flow field dynamics. New insights into flow-vegetation interactions include the control of plant porosity, influencing ‘bleed-flow’ through the plant body. As the porosity of the plant reduces, and bleed-flow is prevented, the volume of flow acceleration increases by up to ~150%, with more sub-canopy flow diverted beneath the impermeable plant blockage. Species-dependent drag coefficients are quantified; these are shown to be dynamic as the plant reconfigures, differing from the commonly assigned value of unity, and for the species’ investigated in this thesis range between 0.95 and 2.92. The newly quantified drag coefficients are used to re-evaluate vegetative flow resistance, and the physically-determined Manning’s n values calculated are highly applicable to conveyance estimators and industry standard hydraulic models used in the management of the river corridor

Turbulence, instream wood and fish: ecohydraulic interactions under field conditions

This is the pre-peer reviewed version of the following article: Trinci, G, Harvey, GL, Henshaw, AJ, Bertoldi, W, Hölker, F. Turbulence, instream wood and fish: Ecohydraulic interactions under field conditions. Ecohydrology. 2020;e2211. https://doi.org/10.1002/eco.2211 , which has been published in final form at https://doi.org/10.1002/eco.2211. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions

Computational Imaging Approach to Recovery of Target Coordinates Using Orbital Sensor Data

This dissertation addresses the components necessary for simulation of an image-based recovery of the position of a target using orbital image sensors. Each component is considered in detail, focusing on the effect that design choices and system parameters have on the accuracy of the position estimate. Changes in sensor resolution, varying amounts of blur, differences in image noise level, selection of algorithms used for each component, and lag introduced by excessive processing time all contribute to the accuracy of the result regarding recovery of target coordinates using orbital sensor data. Using physical targets and sensors in this scenario would be cost-prohibitive in the exploratory setting posed, therefore a simulated target path is generated using Bezier curves which approximate representative paths followed by the targets of interest. Orbital trajectories for the sensors are designed on an elliptical model representative of the motion of physical orbital sensors. Images from each sensor are simulated based on the position and orientation of the sensor, the position of the target, and the imaging parameters selected for the experiment (resolution, noise level, blur level, etc.). Post-processing of the simulated imagery seeks to reduce noise and blur and increase resolution. The only information available for calculating the target position by a fully implemented system are the sensor position and orientation vectors and the images from each sensor. From these data we develop a reliable method of recovering the target position and analyze the impact on near-realtime processing. We also discuss the influence of adjustments to system components on overall capabilities and address the potential system size, weight, and power requirements from realistic implementation approaches

Design and application of advanced disturbance rejection control for small fixed-wing UAVs

Small Unmanned Aerial Vehicles (UAVs) have seen continual growth in both research and commercial applications. Attractive features such as their small size, light weight and low cost are a strong driver of this growth. However, these factors also bring about some drawbacks. The light weight and small size means that small UAVs are far more susceptible to performance degradation from factors such as wind gusts. Due to the generally low cost, available sensors are somewhat limited in both quality and available measurements. For example, it is very unlikely that angle of attack is sensed by a small UAV. These aircraft are usually constructed by the end user, so a tangible amount of variation will exist between different aircraft of the same type. Depending on application, additional variation between flights from factors such as battery placement or additional sensors may exist. This makes the application of optimal model based control methods difficult. Research literature on the topic of small UAV control is very rich in regard to high level control, such as path planning in wind. A common assumption in such literature is the existence of a low level control method which is able to track demanded aircraft attitudes to complete a task. Design of such controllers in the presence of significant wind or modelling errors (factors collectively addressed as lumped disturbances herein) is rarely considered. Disturbance Observer Based Control (DOBC) is a means of improving the robustness of a baseline feedback control scheme in the presence of lumped disturbances. The method allows for the rejection of the influence of unmeasurable disturbances much more quickly than traditional integral control, while also enabling recovery of nominal feedback con- trol performance. The separation principle of DOBC allows for the design of a nominal feedback controller, which does not need to be robust against disturbances. A DOBC augmentation can then be applied to ensure this nominal performance is maintained even in the presence of disturbances. This method offers highly attractive properties for control design, and has seen a large rise in popularity in recent years. Current literature on this subject is very often conducted purely in simulation. Ad- ditionally, very advanced versions of DOBC control are now being researched. To make the method attractive to small UAV operators, it would be beneficial if a simple DOBC design could be used to realise the benefits of this method, as it would be more accessible and applicable by many. This thesis investigates the application of a linear state space disturbance observer to low level flight control of a small UAV, along with developments of the method needed to achieve good performance in flight testing. Had this work been conducted purely in simulation, it is likely many of the difficulties encountered would not have been addressed or discovered. This thesis presents four main contributions. An anti-windup method has been devel- oped which is able to alleviate the effect of control saturation on the disturbance observer dynamics. An observer is designed which explicitly considers actuator dynamics. This development was shown to enable faster observer estimation dynamics, yielding better disturbance rejection performance. During initial flight testing, a significant aeroelastic oscillation mode was discovered. This issue was studied in detail theoretically, with a pro- posed solution developed and applied. The solution was able to fully alleviate the effect in flight. Finally, design and development of an over-actuated DOBC method is presented. A method for design of DOBC for over actuated systems was developed and studied. The majority of results in this thesis are demonstrated with flight test data

New devices for flow measurements: Hot film and burial wire sensors, infrared imagery, liquid crystal, and piezo-electric model

An experimental program aimed at identifying areas in low speed aerodynamic research where infrared imaging systems can make significant contributions is discussed. Implementing a new technique, a long electrically heated wire was placed across a laminar flow. By measuring the temperature distribution along the wire with the IR imaging camera, the flow behavior was identified

Fine Sediment Dynamics in Dredge Plumes

The research presented in this study is motivated by the need to improve predictions of transport and fate of cohesive sediments suspended during dredging operations. Two techniques are presented to quantify vertical sediment flux within dredge plumes. A mass-balance approach using an Acoustic Doppler Current Profiler (ADCP) is described and demonstrated to accurately estimate vertical mass flux and settling velocity for a suspension of fine sand from a dredged material placement operation. A new digital video settling column for simultaneous measurement of particle size and settling velocity is described and evaluated. The Particle Imaging Camera System (PICS) is a single-chambered, digital video settling column, which permits rapid acquisition (within 2--3 minutes) of image sequences within dredge plumes. Image analysis methods are presented, which provide improved estimates of particle size, settling velocity, and inferred particle density. A combination of Particle Tracking Velocimetry (PTV) and Particle Image Velocimetry (PIV) techniques is described, which permits general automation of image analysis collected from video settling columns. In the fixed image plane, large particle velocities are determined by PTV and small particle velocities are tracked by PIV and treated as surrogates for fluid velocities. The large-particle settling velocity (relative to the suspending fluid) is determined by the vector difference of the large and small particle settling velocities. The combined PTV/PIV image analysis approach is demonstrated for video settling column data collected within a mechanical dredge plume in Boston Harbor. The automated PTV/PIV approach significantly reduces uncertainties in measured settling velocity and inferred floc density. Size, settling velocities, and density of suspended sediments were measured with PICS within a trailing suction hopper dredge plume in San Francisco Bay. Results indicated that suspended sediments within the plume were predominantly in the clay and fine silt size classes, as aggregates with d\u3e30 microm. Suspended bed aggregates (defined by densities of 1200 to 1800 kg m-3) represented 0.2--0.5 of total suspended mass, and size and settling velocity of this class were time invariant. Flocs (densities\u3c1200 kg m-3) represented 0.5 to 0.8 of total suspended mass, and size and settling velocity of flocs was seen to increase with time. The peak diameter of bed aggregates and flocs occurred near 90 microm and 200 microm, respectively, corresponding to peak settling velocities of about 1 mm s-1 in each case. Floc settling velocities increased with particle size d1.1, while bed aggregate settling velocity increased like d1.3. Numerical modeling approaches to representing settling velocities for hopper dredge plumes are discussed in light of the experimental findings. Size-dependant settling velocities were well-described by a fractal-based relationship when the suspension was treated with discrete classes for each of the aggregate states. Time-dependent increases in floc size and settling velocity confirm that flocculation is a first-order process which should be included in numerical plume models. Correlations between settling velocity and suspended sediment concentration were weak and statistically insignificant, implying that commonly applied empirical relationships are inappropriate for dredge plumes

Airborne laser sensors and integrated systems

The underlying principles and technologies enabling the design and operation of airborne laser sensors are introduced and a detailed review of state-of-the-art avionic systems for civil and military applications is presented. Airborne lasers including Light Detection and Ranging (LIDAR), Laser Range Finders (LRF), and Laser Weapon Systems (LWS) are extensively used today and new promising technologies are being explored. Most laser systems are active devices that operate in a manner very similar to microwave radars but at much higher frequencies (e.g., LIDAR and LRF). Other devices (e.g., laser target designators and beam-riders) are used to precisely direct Laser Guided Weapons (LGW) against ground targets. The integration of both functions is often encountered in modern military avionics navigation-attack systems. The beneficial effects of airborne lasers including the use of smaller components and remarkable angular resolution have resulted in a host of manned and unmanned aircraft applications. On the other hand, laser sensors performance are much more sensitive to the vagaries of the atmosphere and are thus generally restricted to shorter ranges than microwave systems. Hence it is of paramount importance to analyse the performance of laser sensors and systems in various weather and environmental conditions. Additionally, it is important to define airborne laser safety criteria, since several systems currently in service operate in the near infrared with considerable risk for the naked human eye. Therefore, appropriate methods for predicting and evaluating the performance of infrared laser sensors/systems are presented, taking into account laser safety issues. For aircraft experimental activities with laser systems, it is essential to define test requirements taking into account the specific conditions for operational employment of the systems in the intended scenarios and to verify the performance in realistic environments at the test ranges. To support the development of such requirements, useful guidelines are provided for test and evaluation of airborne laser systems including laboratory, ground and flight test activities

NASA SBIR abstracts of 1991 phase 1 projects

The objectives of 301 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1991 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 301, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1991 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included