Experimental and Numerical Study of Free-Surface Flows in a Corrugated Pipe

A new discharge computational model is proposed on the basis of the integration of the velocity profile across the flow cross-section in an internally corrugated pipe flowing partially full. The model takes into account the velocity profiles in the pressurised pipe to predict the flow rate under free-surface flow conditions. The model was evaluated through new laboratory experiments as well as a literature datasets. The results show that flow depth and pipe slope may affect the model accuracy; nevertheless, a prediction error smaller than 20% is expected from the model. Experimental results reveal the influence of the pipe slope and flow depth on the friction factor and the stage-discharge curves: the friction factor may increase with pipe slope, while it reduces as flow depth increases. Hence, a notable change of pipe slope may lead to the variation of the stage-discharge curve. A part of this study deals with numerical simulation of the velocity profiles and the stage-discharge curves. Using the Reynolds-Averaged Navier-Stokes (RANS) equations, numerical solutions were obtained to simulate four experimental tests, obtaining enough accurate results as to velocity profiles and water depths. The results of the simulated flow velocity were used to estimate the flow discharge, confirming the potential of numerical techniques for the prediction of stage-discharge curves

Input-Output Feedback Linearization Control of a Linear Induction Motor Taking Into Consideration Its Dynamic End-Effects and Iron Losses

This article proposes a new input–output feedback linearization control (FLC) technique of linear induction motors (LIMs), taking into consideration both the dynamic end-effects and the iron losses. Starting from a previously conceived dynamic model, including the dynamic end-effects and the iron losses, all the theoretical framework of the FLC has been developed. The proposed FLC improves a previous version of FLC in accounting also the iron losses, which in LIMs with fixed-secondary sheet play a pivotal role more than in rotating induction motors (RIMs). The proposed FLC has been experimentally tested on a suitably developed test setup, and experimental comparisons between the proposed FLC, the classic field-oriented control and a previously developed FLC, not accounting for the iron losses, have been shown in variable flux working conditions

Discharge Coefficients for Sluice Gates Set in Weirs at Different Upstream Wall Inclinations

Laboratory experiments and numerical simulations are performed to measure discharge coefficients in the case of a gate located on the upstream wall of a weir for flood storage. The effect of the gate slope and the side contraction have been taken into account. The study was first performed experimentally, when three series of tests were carried out with (and without) a broad crested weir located under the gate, at different values of the inclination angle of the weir upstream wall, and at different values of the shape ratio and the relative opening. In order to provide useful suggestions for those involved in sluice gate construction and management, three equations were obtained based on multiple regression, relating the discharge coefficient to different parameters that characterize the phenomenon at hand, separating the case when the broad-crested weir was present. Then numerical simulations were executed by means of the Reynolds-averaged Navier–Stokes (RANS) equations with the k-ε turbulence closure model and in conjunction with the volume of fluid (VOF) method, to validate the numerical results against the experimental and to possibly investigate phenomena not caught by the experimental measurements. Simulated discharges were very close to the observed ones showing that the proposed three-dimensional numerical procedure is a favorable option to correctly reproduce the phenomenon

Flow Resistance in Open Channel Due to Vegetation at Reach Scale: A Review

Vegetation on the banks and flooding areas of watercourses significantly affects energy losses. To take the latter into account, computational models make use of resistance coefficients based on the evaluation of bed and walls roughness besides the resistance to flow offered by vegetation. This paper, after summarizing the classical approaches based on descriptions and pictures, considers the recent advancements related to the analytical methods relative both to rigid and flexible vegetation. In particular, emergent rigid vegetation is first analyzed by focusing on the methods for determining the drag coefficient, then submerged rigid vegetation is analyzed, highlighting briefly the principles on which the different models are based and recalling the comparisons made in the literature. Then, the models used in the case of both emergent and submerged rigid vegetation are highlighted. As to flexible vegetation, the paper reminds first the flow conditions that cause the vegetation to lay on the channel bed, and then the classical resistance laws that were developed for the design of irrigation canals. The most recent developments in the case of submerged and emergent flexible vegetation are then presented. Since turbulence studies should be considered as the basis of flow resistance, even though the path toward practical use is still long, the new developments in the field of 3D numerical methods are briefly reviewed, presently used to assess the characteristics of turbulence and the transport of sediments and pollutants. The use of remote sensing to map riparian vegetation and estimating biomechanical parameters is briefly analyzed. Finally, some applications are presented, aimed at highlighting, in real cases, the influence exerted by vegetation on water depth and maintenance interventions

Bed Roughness Effects on the Turbulence Characteristics of Flows through Emergent Rigid Vegetation

During floods, the riparian vegetation in a watercourse significantly changes the velocity distribution and the turbulence structures of the flow. However, a certain influence on them is always exerted by the bed sediments. The aim of the present work is to study the bed roughness effects on the turbulence characteristics in an open-channel flow with rigid and emergent vegetation. Toward this end, an experimental campaign was conducted and consisted of three runs with different bed roughness conditions. The study is based on the analysis of the velocity, Reynolds shear stress, and viscous stress distributions. The results show that, in the region below the free surface region, the flow is strongly influenced by the vegetation. However, moving toward the bed, the flow is affected by a combined effect of vegetation, firstly, and bed roughness, secondly. This flow zone becomes more extended, as the size of the bed sediments increases. The shear stress distributions confirm the distinction between the two flow regions. In fact, the shear stresses are practically negligible in the upper zone of the water depth influenced by vegetation, whereas, owing to the bed roughness, they reach the maximum value near the bed surface. Finally, the analysis of the turbulent kinetic energy (TKE) revealed high values below the crest level and in the near-bed flow zone in the streamwise direction, whereas a strong lateral variation of TKE from the flume centerline to the cylinder occurred in the intermediate region

A Hybrid Observer for Localization from Noisy Inertial Data and Sporadic Position Measurements

We propose an asymptotic position and speed observer for inertial navigation in the case where the position measurements are sporadic and affected by noise. We cast the problem in a hybrid dynamics framework where the continuous motion is affected by unknown continuous-time disturbances and the sporadic position measurements are affected by discrete-time noise. We show that the peculiar hybrid cascaded structure describing the estimation error dynamics is globally finite-gain exponentially ISS with gains depending intuitively on our tuning parameters. Experimental results, as well as the comparison with an Extended Kalman Filter (EKF), confirm the effectiveness of the proposed solution with an execution time two orders of magnitude faster and with a simplified observer tuning because our bounds are an explicit function of the observer tuning knobs

Localization from inertial data and sporadic position measurements

International audienceA novel estimation strategy for inertial navigation in indoor/outdoor environments is proposed with a specific attention to the sporadic nature of the non-periodic measurements. After introducing the inertial navigation model, we introduce an observer providing an asymptotic estimate of the plant state. We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. The estimation error dynamics with the proposed observer shows a peculiar cascaded interconnection of three subsystems (allowing for intuitive gain tuning), with perturbations occurring either on the jump or on the flow dynamics (depending on the specific subsystem under consideration). For this structure, we show global exponential stability of the error dynamics. Hardware-in-the-loop results confirm the effectiveness of the proposed solution

Simulation of Accelerated Subcritical Flow Profiles in an Open Channel with Emergent Rigid Vegetation

Even though both fluid mechanics and numerical studies have considerably progressed in the past decades, experimental knowledge remains an important tool for studying the resistance to flow in fluid media where a complex environment dominates the flow pattern. After a comprehensive review of the recent literature on the drag coefficient in open channels with emergent rigid vegetation, this paper presents the results related to 29 experimental accelerated subcritical flow profiles (i.e., M2 type) that were observed in flume experiments with emergent stems in a square arrangement at the University of Calabria (Italy). First of all, we used some of the literature formulas for the drag coefficient, concluding that they were unsatisfactory, probably because of their derivation for uniform or quasi-uniform flow conditions. Then, we tested a recently proposed approach, but when we plotted the drag coefficient versus the stem Reynolds number, the calculated drag coefficients showed an inconclusive behavior to interpret. Thus, we proposed a new approach that considers the calibration of the Manning coefficient for the simulation of the free surface profile, and then the evaluation of the drag coefficients based on the fundamental fluid mechanics equations. With the help of classical dimensional analysis, a regression equation was found to estimate the drag coefficients by means of non-dimensional parameters, which include vegetation density, stem Reynolds number and flow Reynolds number computed using the flow depth as characteristic length. This equation was used to simulate all the 26 observed profiles and, also, 4 experimental literature profiles, and the results were good. The regression equation could be used to estimate the drag coefficient for the M2 profiles in channels with squared stem arrangements, within the range of vegetation densities, flow Reynolds numbers and stem Reynolds numbers of the present study. However, in the case of the three profiles observed by the authors for staggered arrangement, the regression equation gives significantly underestimated flow depths

Triggering of Rain-Induced Landslides, with Applications in Southern Italy

Landslides cause fatalities, widespread damages and economic losses. Quite frequently, they are triggered by rainfall. Many studies have investigated the relationships between rainfall characteristics and landslide events. This paper reviews the two main approaches, physical and hydrological, for modelling such relationships. In the physical approach, the influence of rainfall on slope stability is commonly analysed in terms of groundwater infiltration, pore pressure changes and balance between shear stresses and resistances, therefore a considerable amount of hydrogeological, morphological and geotechnical data is required. In the hydrological approach, a statistical-probabilistic study of rainfall series and dates of occurrence of slope movements is instead carried out. Both types of methods are briefly presented, with examples from real applications to study cases in Southern Italy. In particular, the recent reactivations of a large rockslide in Northern Calabria have been modelled by means of physical and hydrological approaches. In addition, shallow landslides in Calabria, Campania and Sicily have been modelled by employing hydrological approaches. Strengths and weaknesses of the adopted methods are discussed, together with the causes that may have hindered better results for the considered cases. For the methods illustrated through real application cases, research perspectives are discussed, as well as their possible use in early warning systems

Localization in Structured Environments with UWB Devices without Acceleration Measurements, and Velocity Estimation Using a Kalman–Bucy Filter

In this work, a novel scheme for velocity and position estimation in a UWB range-based localization system is proposed. The suggested estimation strategy allows for overcoming two main problems typically encountered in localization systems. The first one is that it can be suitable for use in environments where the GPS signal is not present or where it might fail. The second one is that no accelerometer measurements are needed for the localization task. Moreover, to deal with the velocity estimation problem, a suitable Kalman–Bucy filter is designed and it is compared, experimentally, with a particle filter by showing the features of the two algorithms in order to be used in a localization context. Additionally, further experimental tests are carried out on a suitable developed test setup in order to confirm the goodness of the proposed approac