Sedimentation buildup and accumulation can cause serious impediments to the hydraulic capacity of culvert systems. There has not been any significant research to date regarding the behavior of bed load transport nor the implications of bed forms upon the hydraulics associated with culvert flow. The primary objective of this study was to investigate how sediment transport occurs in a culvert and to then develop a methodology and test setup to successfully investigate this sediment transport. The investigation was limited to studying culvert and pipeline transport of alluvial material in sand and gravel sizes. This dissertation develops a semi-empirical bed load transport equation from existing open channel flow models to be used in predicting sediment yields in culvert applications. Incipient motion and critical shear stresses were investigated for application into eight empirically based models. The methods analyzed include the Meyer-Peter Müller, Engelund and Hansen, Shields, Toffaleti (as seen in the United States Army Corps of Engineers program HEC RAS), Schoklitsch, DuBoy, Yang, and Rottner methods. These methods were tested for predictive accuracy to physically modeled bed load transport data obtained from a 304.8 mm (11.89 in) diameter culvert. Tests involved fully pressurized, partially pressurized inlet controlled, and open channel flow regimes for a variety of bed elevations and bedforms. Bedform regime and associated resistance impacts on flow energy were presented to better understand their hydraulic consequence in culvert applications. An extensive literature review regarding sediment transport in both open channel and closed conduit applications is provided to develop a foundation of knowledge to pursue further research in this area. This literature review summarizes the current body of scientific knowledge that is applicable to sediment transport in culverts. Investigations into both historical and current works are cited throughout this studies literature review. A tested methodology is presented for the investigation of sediment bed load transport in culvert applications. Development of a procedure for the testing of critical shear limits and bed load transport is outlined. A detailed application example is provided. Recommended changes in testing techniques and physical model are made for the next generation of culvert sediment transport research.

Proper aeration of cavitating hydraulic equipment can greatly reduce cavitation intensity, noise, and damage. This thesis quantifies the benefit, in terms of damage and noise, from aerating six inch butterfly valve. The incipient damage level of cavitation was obtained for both aerated and non -ae ra ted conditions. The level is defined as one pit per square inch of a soft aluminum test specimen per one minute of operation. A description of the cavitation pits that occurred plus where they appeared is presented. A graph showing the aerated and non-aerated limits of incipient damage is given along with a table showing the percent reduct ion of damage from aeration. A graph and table are also given depicting the reduction in noise. The proper location of aeration ports to allow natural aeration is outlined .

In this study, water meter accuracy in response to short, intermittent flows was tested. Burst flows have short durations (a few seconds or less), and occur at a variety of flow rates. For some types of meters, it is difficult to accurately measure short, intermittent flow rates. Depending on the meter type, an intermittent flow can result in either under-registering or over-registering of the actual throughput. During the testing for this research, water was passed through meters for various time combinations, test setups, and flows. It should be understood that realistically, a household setting will not see burst flows occurring in a repeated manner. For the purposes of laboratory testing, however, time-on and condensed time-off combinations were used. The reduced time off allowed for a controlled test procedure and efficient data collection. Ultrasonic, electromagnetic, nutating disc, and oscillating piston meters were tested. The meter types were found to perform differently under the varying test setups, time combinations, and flow rates. The electromagnetic meters were generally unaffected by burst flows. Burst flows caused one of the ultrasonic meter models to have decreased accuracies, while the other model remained mostly unaffected. Nutating disc and oscillating piston meters were generally affected by burst flows only at the lowest flow.

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Meteorology and Physical Oceanography, 1982. / Supervised by Nelson Hogg. Includes bibliographical references (leaves 108-109).

Thesis (Ph. D.)--Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1982. / Bibliography: p. 139-140.

This thesis proposes a new type of hydraulic valve: an adjustable-ratio flow divider. This valve attempts to split one input flow into two output flows in a predetermined ratio, independent of load pressure or total flow. The valve uses a two dimensional structure to form a two-stage valve with only one moving part; the pilot stage uses the spool s rotary position, and the main stage uses its linear position. This arrangement allows for a cheaper, simpler valve with smaller volumes (translating into faster response). The ratio of outlet flows can be set on the fly by the angular position of the spool, driven by a stepper motor or other low-power input. In order to evaluate the initial feasibility of the concept, steady state and dynamic models were developed and the effects of the physical parameters were studied. Two non-linear non-derivative multiobjective optimization strategies were used to determine the optimum parameters for a prototype. Finally, the prototype s performance was experimentally examined and appears to work as expected.

This thesis proposes a new type of hydraulic valve: an adjustable-ratio flow divider. This valve attempts to split one input flow into two output flows in a predetermined ratio, independent of load pressure or total flow. The valve uses a two dimensional structure to form a two-stage valve with only one moving part; the pilot stage uses the spool s rotary position, and the main stage uses its linear position. This arrangement allows for a cheaper, simpler valve with smaller volumes (translating into faster response). The ratio of outlet flows can be set on the fly by the angular position of the spool, driven by a stepper motor or other low-power input. In order to evaluate the initial feasibility of the concept, steady state and dynamic models were developed and the effects of the physical parameters were studied. Two non-linear non-derivative multiobjective optimization strategies were used to determine the optimum parameters for a prototype. Finally, the prototype s performance was experimentally examined and appears to work as expected.

Control design for flexible robots is a challenging problem. Part of the difficulty comes from a lack of controls-focused modeling tools. Practical flexible robots have several aspects that make them difficult to model: continuous elements, complicated actuators, multiple feedback loops, non-collocated sensors and actuators, and the ability to take on arbitrary three-dimensional poses. Even if existing techniques for modeling flexible structures could model the closed-loop response of a hydraulically-actuated flexible robot with a vibration suppression controller, how would such a model be used for control design? This work presents the development of a modeling approach that meets the needs of a controls engineer. The approach is based on the transfer matrix method (TMM). The TMM has been expanded in several ways to enable it to accurately model practical flexible robots. Quantitative agreement is shown between model and experiment for the interaction of a hydraulic actuator and a flexible structure as well as for the closed-loop response of a system with vibration suppression. Once the ability to model the closed-loop response of the system has been demonstrated, this work focuses on using the model for control design. Control design is facilitated by symbolic implementation of the TMM, which allows closed-form expressions for the closed-loop response of the system to be found without discretization. These closed-form expressions will be transcendental transfer functions for systems with continuous elements. These transfer functions can then be used in various optimization approaches for designing the closed-loop system response.

The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure, flow and displacement are measured on a physical machine and then compared with the simulation results. Simulation results are consistent with the measurement results. The main result of this work is the ability to determine the dynamic loads on the joints and attachments of the backhoe-loader. In addition to that, prototyping time and costs can be highly reduced by implementing this model in the design process.

published_or_final_version / Civil and Structural Engineering / Master / Master of Philosophy