Computing induced velocity perturbations due to a helicopter fuselage in a free stream

The velocity field of a representative helicopter fuselage in a free stream is computed. Perturbation velocities due to the fuselage are computed in a plan above the location of the helicopter rotor (rotor removed). The velocity perturbations computed by a source-panel model of the fuselage are compared with experimental measurements taken with a laser velocimeter. Three paneled fuselage models are studied: fuselage shape, fuselage shape with hub shape, and a body of revolution. The velocity perturbations computed for both fuselage shape models agree well with the measured velocity field except in the close vicinity of the rotor hub. In the hub region, without knowing the extent of separation, modeling of the effective source shape is difficult. The effects of the fuselage perturbations are not well-predicted with a simplified ellipsoid fuselage. The velocity perturbations due to the fuselage at the plane of the measurements have magnitudes of less than 8 percent of free-stream velocity. The velocity perturbations computed by the panel method are tabulated for the same locations at which previously reported rotor-inflow velocity measurements were made

Qualitative design and implementation of human-robot spatial interactions

Despite the large number of navigation algorithms available for mobile robots, in many social contexts they often exhibit inopportune motion behaviours in proximity of people, often with very "unnatural" movements due to the execution of segmented trajectories or the sudden activation of safety mechanisms (e.g., for obstacle avoidance). We argue that the reason of the problem is not only the difficulty of modelling human behaviours and generating opportune robot control policies, but also the way human-robot spatial interactions are represented and implemented. In this paper we propose a new methodology based on a qualitative representation of spatial interactions, which is both flexible and compact, adopting the well-defined and coherent formalization of Qualitative Trajectory Calculus (QTC). We show the potential of a QTC-based approach to abstract and design complex robot behaviours, where the desired robot's behaviour is represented together with its actual performance in one coherent approach, focusing on spatial interactions rather than pure navigation problems

Vibrational thermodynamics: coupling of chemical order and size effects

The effects of chemical order on the vibrational entropy have been studied using first-principles and semi-empirical potential methods. Pseudopotential calculations on the Pd_3V system show that the vibrational entropy decreases by 0.07k_B upon disordering in the high-temperature limit. The decrease in entropy contradicts what would be expected from simple bonding arguments, but can be explained by the influence of size effects on the vibrations. In addition, the embedded-atom method is used to study the effects of local environments on the entropic contributions of individual Ni and Al atoms in Ni_3Al. It is found that increasing numbers of Al nearest neighbours decreases the vibrational entropy of an atom when relaxations are not included. When the system is relaxed, this effect disappears, and the local entropy is approximately uniform with increasing number of Al neighbours. These results are explained in terms of the large size mismatch between Ni and Al. In addition, a local cluster expansion is used to show how the relaxations increase the importance of long-range and multisite interactions

Effect of blade planform variation on the forward-flight performance of small-scale rotors

An investigation was conducted in the Glenn L. Martin Wind Tunnel to determine the effect of blade planform variation on the forward-flight performance of four small-scale rotors. The rotors were 5.417 ft in diameter and differed only in blade planform geometry. The four planforms were: (1) rectangular; (2) 3:1 linear taper starting at 94 percent radius; (3) 3:1 linear taper starting at 75 percent radius; and (4) 3:1 linear taper starting at 50 percent radius. Each planform had a thrust-weighted solidity of 0.098. The investigation included forward-flight simulation at advance ratios from 0.14 to 0.43 for a range of rotor lift and drag coefficients. Among the four rotors, the rectangular rotor required the highest torque for the entire range of rotor drag coefficients attained at advanced ratios greater than 0.14 for rotor lift coefficients C sub L from 0.004 to 0.007. Among the rotors with tapered blades and for C sub L = 0.004 to 0.007, either the 75 percent tapered rotor or the 50 percent tapered rotor required the least amount of torque for the full range of rotor drag coefficients attained at each advance ratio. The performance of the 94 percent tapered rotor was generally between that of the rectangular rotor and the 75 and 50 percent tapered rotors at each advance ratio for this range of rotor lift coefficients

Replicated host-race formation in bogus yucca moths: genetic and ecological divergence of Prodoxus quinquepunctellus on yucca hosts

Goal: Assess host-race formation in certain moths by examining their genetic and ecological differentiation. Organisms: Stalk-feeding moths, Prodoxus quinquepunctellus, collected from sympatric populations of Yucca elata and Y rostrata in west Texas, USA. Results: Moths on the two yuccas differed significantly in mtDNA haplotype frequencies, emergence time, wing dot number, body size, and ovipositor size and shape. Conclusion: Host-race formation has probably occurred in this yucca moth although genetic divergence was low

An SU(3) model for octet baryon and meson fragmentation

The production of the octet of baryons and mesons in e^+ e^- collisions is analysed, based on considerations of SU(3) symmetry and a simple model for SU(3) symmetry breaking in fragmentation functions. All fragmentation functions, D_q^h(x, Q^2), describing the fragmentation of quarks into a member of the baryon octet (and similarly for fragmentation into members of the meson octet) are expressed in terms of three SU(3) symmetric functions, \alpha(x, Q^2), \beta(x, Q^2), and \gamma(x, Q^2). With the introduction of an SU(3) breaking parameter, \lambda, the model is successful in describing hadroproduction data at the Z pole. The fragmentation functions are then evolved using leading order evolution equations and good fits to currently available data at 34 GeV and at 161 GeV are obtained.Comment: 24 pages LaTeX file including 11 postscript figure file

THE EXPANSION OF CENTER-PIVOT IRRIGATION IN THE CERRADO BIOME.

Edição Especial Inovagri ? notas técnicas

Leading particle effect, inelasticity and the connection between average multiplicities in {\bf e+e−e^+e^-} and {\bf pppp} processes

The Regge-Mueller formalism is used to describe the inclusive spectrum of the proton in $p p$ collisions. From such a description the energy dependences of both average inelasticity and leading proton multiplicity are calculated. These quantities are then used to establish the connection between the average charged particle multiplicities measured in {\bf $e^+e^-$} and {\bf $pp/{\bar p}p$} processes. The description obtained for the leading proton cross section implies that Feynman scaling is strongly violated only at the extreme values of $x_F$, that is at the central region ($x_F \approx 0$) and at the diffraction region ($x_F \approx 1$), while it is approximately observed in the intermediate region of the spectrum.Comment: 20 pages, 10 figures, to be published in Physical Review