Předmětem této diplomové práce je návrh robotické buňky pro tvarování hydraulických trubek. Práce obsahuje analýzu technologie tvarování trubek a zdůvodnění potřeby automatizace celého procesu. Z návrhů jednotlivých konstrukčních uzlů byly vybrány nejvhodnější řešení a ty pak byly aplikovány při konstrukci buňky. Robotická buňka byla navržena s ohledem na bezpečnost provozu, funkčnost a jednoduchou ovladatelnost. Na závěr je vypracováno ekonomické zhodnocení projektu. K práci je přiložen návod pro ovládání, výkresová dokumentace, model buňky a výsledky simulace.

Many flow regimes in Nuclear Reactor Safety Research are characterized by multiphase flows, with one phase being a continuous liquid and the other phase consisting of gas or vapour of the liquid phase. In dependence on the void fraction of the gaseous phase the flow regimes e.g. in vertical pipes are varying from bubbly flows with low and higher volume fraction of bubbles to slug flow, churn turbulent flow, annular flow and finally to droplet flow. In the regime of bubbly and slug flow the multiphase flow shows a spectrum of different bubble sizes. While disperse bubbly flows with low gas volume fraction are mostly mono-disperse, an increase of the gas volume fraction leads to a broader bubble size distribution due to breakup and coalescence of bubbles. Bubbles of different sizes are subject to lateral migration due to forces acting in lateral direction different from the main drag force direction. The bubble lift force was found to change the sign dependent on the bubble size. Consequently this lateral migration leads to a de-mixing of small and large bubbles and to further coalescence of large bubbles migrating towards the pipe center into even larger Taylor bubbles or slugs. An adequate modeling has to consider all these phenomena. A Multi Bubble Size Class Test Solver has been developed to investigate these effects and test the influence of different model approaches. Basing on the results of these investigations a generalized inhomogeneous Multiple Size Group (MUSIG) Model based on the Eulerian modeling framework has been proposed and was finally implemented into the CFD code CFX. Within this model the dispersed gaseous phase is divided into N inhomogeneous velocity groups (phases) and each of these groups is subdivided into Mj bubble size classes. Bubble breakup and coalescence processes between all bubble size classes Mj are taken into account by appropriate models. The inhomogeneous MUSIG model has been validated against experimental data from the TOPFLOW test facility.

Pipes in water distribution systems may change as they age. The accumulation of corrosion byproducts and suspended particles on the inside wall of aged pipes can increase pipe roughness and reduce pipe diameter. To quantify the hydraulic effects of irregular accumulation on the pipe walls, eleven aged pipes ranging in diameter from 0.020-m (0.75-in) to 0.100-m (4-in) and with varying degrees of turberculation were located and subjected to laboratory testing. The laboratory test results were used to determine a relationship between pipe diameter reduction and Hazen-Williams C. This relationship, combined with a manipulation of the Hazen-Williams equation, provided a simple and direct method for correcting the diameters of aged pipes in distribution models. Using EPANET 2, the importance of correcting pipe diameters when modeling water distribution systems containing aged pipes was investigated. Correcting the pipe diameters in the sample network reduced the modeled water age by up to 10% and changed the pattern of fluctuating water age that occurred as waters with different sources moved through the pipe network. In addition, two of the aforementioned aged pipes with diameters of 0.025-m (1-in) and 0.050-m (2-in) were modeled using Reynolds-Averaged Navier-Stokes (RANS) turbulence modeling. Flow was computed at Reynolds numbers ranging from 6700 to 31,000 using three turbulence models including a 4-equation v2-f model, and 2-equation realizable k-e; and k-ω models. In comparing the RANS results to the laboratory testing, the v2-f model was found to be most accurate, producing Darcy-Weisbach friction factors from 5% higher to 15% lower than laboratory-obtained values. The capability of RANS modeling to provide a detailed characterization of the flow in aged pipes was demonstrated. Large eddy simulation (LES) was also performed on a single 0.050-m (2-in) pipe at a Reynolds number of 6800. The Darcy-Weisbach friction factor calculated using LES was 20% less than obtained from experimental tests. Roughness elements smaller than the grid scale and deficiencies in the subgrid-scale model at modeling the complex three-dimensional flow structures due to the irregular pipe boundary were identified as likely sources of error. Even so, the utility of LES for describing complex flows was established.

The specific turbulent kinetic energy, root-mean-square fluctuating vorticity, and mean-vortexwavelength distributions are presented for fully rough pipe flow. The distributions of these turbulence variables are obtained from a proposed turbulence model. Many of the turbulence models commonly used for computational fluid dynamics are based on an analogy between molecular and turbulent transport. However, traditional k-ε and k-ω models fail to exhibit proper dependence on the molecular viscosity. Based on a rigorous application of the Boussinesq’s hypothesis, Phillips proposed a vorticity-based transport equation for the turbulent kinetic energy. The foundation for this vorticity-based transport equation is presented. In future development of this model, a transport equation for the fluctuating vorticity is needed. In order to assess the model and evaluate closure coefficients, the resulting turbulent vorticity distribution must be compared to reference distributions. This dissertation presents reference distributions for the mean fluctuating vorticity and mean turbulent wavelength obtained for fully rough pipe flow. These distributions are obtained from a turbulence model, which involves the proposed transport equation for the turbulent kinetic energy and an empirical relation for the mean vortex wavelength. The empirical relation for the mean vortex wavelength requires numerous closure coefficients. These closure coefficients are determined through gradient-based optimization techniques. The current model gives excellent agreement with well established relations obtained for both the friction factor and velocity distribution.

This diploma thesis deals with hydraulic optimization of distribution pipeline for 5 nozzle Pelton’s turbine by using CFD. The thesis is a follow-up to a previous diploma thesis which deals with the possibilities to simplify existing distribution pipeline. A few simplified versions of distribution pipelines were solved and the results show which way we should proceed towards the right solution. The simplified distribution pipeline arises from given parameters and retains the same procedure of evaluation to give us the opportunity of comparing achieved results. Two new geometries of distribution pipeline were created. They were then modified to achieve optimal distribution of discharge in each nozzle. Other criteria used for comparison were static pressure and Coriolis’ number in specific slices inside pipeline. Last but not least a simple economical analysis for selected version of distribution pipeline was carried out on the basis of which we can see the manufacturing costs of the pipeline.

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