A mesh-less method for solving incompressible, multi-phase flow problems has been developed and is discussed along with the presentation of benchmark results showing good agreement with theoretical and experimental results. Results of a systematic, parametric study of the single phase flow around a 2D circular cylinder at Reynolds numbers up to 1000 are presented and discussed. Simulation results show good agreement with experimental results. Extension of the method to deal with multiphase flow including liquid-to-vapor phase transition along with applications to cavitating flow are discussed. Insight gleaned from numerical experiments of the cavity closure problem are discussed along with recommendations for additional research. Several conclusions regarding the use of the method are made.

In this thesis, a new approach is developed, avoiding the correspondence problem caused by the difference in embodiment between imitator and demonstrator in imitation learning. In our work, the imitator is a fluidic system of dynamics totally different than the imitatee, which is a human performing hand gestures and human body postures. The fluidic system is composed of fluid particles, which are used for the discretization of the problem domain. In this work, we demonstrate the fluidics formation control so as to imitate by observation initially given human body poses and hand gestures. Our fluidic formation control is based on setting suitable parameters of Smoothed Particle Hydrodynamics (SPH), which is a particle based Lagrangian method, according to imitation learning. In the controller part, we developed three approaches: In the first one, we used Artificial Neural Networks (ANN) for training of the input-output pairs on the fluidic imitation system. We extracted shape based feature vectors for human hand gestures as inputs of the system and for output we took the fluid dynamics parameters. In the second approach, we employed the Principal Component Analysis (PCA) method for human hand gesture and human body pose classification and imitation. Lastly, we developed a region based controller which assigns the fluid parameters according to the human body poses and hand gestures. In this controller, our algorithm determines the best fitting ellipses on human body regions and human hand finger positions and maps ellipse parameters to the fluid parameters. The fluid parameters adjusted by the fluidics imitation controller are body force (f), density, stiffness coefficient and velocity of particles (V) so as to lead formations of fluidic swarms to human body poses and hand gestures.

This thesis proposes a framework for controlling mobile robot networks based on a fluid dynamics paradigm. The approach is inspired by natural behaviors of fluids demonstrating desirable characteristics for collective robots. The underlying mathematical formalism is developed through establishing analogies between fluid bodies and multi-robot systems such that robots are modeled as fluid elements that constitute a fluid body. The governing equations of fluid dynamics are adapted to multi-robot systems and applied on control of robots. The model governs flow of a robot based on its local interactions with neighboring robots and surrounding environment. Therefore, it provides a layer of decentralized reactive control on low level behaviors, such as obstacle avoidance, deployment, and flow. These behaviors are inherent to the nature of fluids and provide emergent coordination among robots. The framework also introduces a high-level control layer that can be designed according to requirements of the particular task. Emergence of cooperation and collective behavior can be controlled in this layer via a set of parameters obtained from the mathematical description of the system in the lower layer. Validity and potential of the approach have been experimented through simulations primarily on two common collective robotic tasks / deployment and navigation. It is shown that gas-like mobile sensor networks can provide effective coverage in unknown, unstructured, and dynamically changing environments through self-spreading. On the other hand, robots can also demonstrate directional flow in navigation or path following tasks, showing that a wide range of multi-robot applications can potentially be developed using the framework.

This thesis presents a two-phase liquid-solid numerical model using Smoothed Particle Hydrodynamics (SPH). The scheme is developed for multi-phase flows in industrial tanks containing sediment used in the nuclear industry for decommissioning. These two-phase liquid-sediments flows feature a changing interfacial profile, large deformations and fragmentation of the interface with internal jets generating resuspension of the solid phase. SPH is a meshless Lagrangian discretization scheme whose major advantage is the absence of a mesh making the method ideal for interfacial and highly non-linear flows with fragmentation and resuspension. Emphasis has been given to the yield profile and rheological characteristics of the sediment solid phase using a yielding, shear and suspension layer which is needed to predict accurately the erosion phenomena. The numerical SPH scheme is based on the explicit treatment of both phases using Newtonian and non-Newtonian Bingham-type constitutive models. This is supplemented by a yield criterion to predict the onset of yielding of the sediment surface and a suspension model at low volumetric concentrations of sediment solid. The multi-phase model has been compared with experimental and 2-D reference numerical models for scour following a dry-bed dam break yielding satisfactory results and improvements over well-known SPH multi-phase models. A 3-D case using more than 4 million particles, that is to the author’s best knowledge one of the largest liquid-sediment SPH simulations, is presented for the first time. The numerical model is accelerated with the use of Graphic Processing Units (GPUs), with massively parallel capabilities. With the adoption of a multi-phase model the computational requirements increase due to extra arithmetic operations required to resolve both phases and the additional memory requirements for storing a second phase in the device memory. The open source weakly compressible SPH solver DualSPHysics was chosen as the platform for both CPU and GPU implementations. The implementation and optimisation of the multi-phase GPU code achieved a speed up of over 50 compared to a single thread serial code. Prior to this thesis, large resolution liquid-solid simulations were prohibitive and 3-D simulations with millions of particles were unfeasible unless variable particle resolution was employed. Finally, the thesis addresses the challenging problem of enforcing wall boundary conditions in SPH with a novel extension of an existing Modified Virtual Boundary Particle (MVBP) technique. In contrast to the MVBP method, the extended MVBP (eMVBP) boundary condition guarantees that arbitrarily complex domains can be readily discretized ensuring approximate zeroth and first order consistency for all particles whose smoothing kernel support overlaps the boundary. The 2-D eMVBP method has also been extended to 3-D using boundary surfaces discretized into sets of triangular planes to represent the solid wall. Boundary particles are then obtained by translating a full uniform stencil according to the fluid particle position and applying an efficient ray casting algorithm to select particles inside the fluid domain. No special treatment for corners and low computational cost make the method ideal for GPU parallelization. The models are validated for a number of 2-D and 3-D cases, where significantly improved behaviour is obtained in comparison with the conventional boundary techniques. Finally the capability of the numerical scheme to simulate a dam break simulation is also shown in 2-D and 3-D.

Simulating fluid behavior has proven to be a demanding challenge which requires complex computational models and highly efficient data structures. Smoothed Particle Hydrodynamics (SPH) is a particle based computational model used to simulate fluid behavior that has been found capable of producing convincing results. However, the SPH algorithm is computational heavy which makes it cumbersome to work with. This master thesis describes how the SPH algorithm can be accelerated by utilizing the GPU’s computational resources. It describes a model for how to distribute the work load on the GPU and presents a suitable data structure. In addition, it proposes a method to represent and handle moving objects in the fluids surroundings. Finally, the performance gain due to the GPU is evaluated by comparing processing times with an identical implementation running solely on the CPU.

This thesis investigates wave loading on bodies in the free surface using smoothed particle hydrodynamics (SPH). This includes wave loading on fixed bodies, waves generated by heaving bodies in still water and the heave response of a body in waves, representing a wave energy device. SPH is a flexible Lagrangian technique for CFD simulations, which in principle applies to steep and breaking waves without special treatment allowing us to simulate highly nonlinear and potentially violent flows encountered in a real sea. However few detailed tests have been undertaken even with small amplitude waves.This research uses the open-source SPH code SPHysics. First two forms of SPH formulation, standard SPH with artificial viscosity and SPH-Arbitrary Lagrange Euler (ALE) with a Riemann solver, are used to simulate progressive waves in a 2-D tank. The SPH-ALE formulation with a symplectic time integration scheme and cubic spline kernel is found to model progressive waves with negligible dissipation whereas with the standard SPH formulation waves decay markedly along the tank. We then consider two well-defined test cases in two dimensions: progressive waves interacting with a fixed cylinder and waves generated by a heaving semi-immersed cylinder. To reduce computer time in a simple manner a variable particle mass distribution is tested with fine resolution near the body and coarse resolution further away, while maintaining a uniform kernel size. A mass ratio of 1:4 proved effective but increasing to 1:16 caused particle clumping and instability. For wave loading on a half-submerged cylinder the agreement with the experimental data of Dixon et al. (1979) for the root mean square force is within 2%. For more submerged cases, the results show some discrepancy, but this was also found with other modelling approaches. For the heaving cylinder, SPH results for the far field wave amplitude and vertical force on the cylinder show good agreement with the data of Yu and Ursell (1961). The variable mass distribution leads to a computer run time speedup of nearly 200% in these cases on a single CPU. The results of the vertical force and wave amplitude are shown to be quite sensitive to the value of the slope limiter in the Riemann solver for the 2-D heaving cylinder problem. A heaving 2-D wedge or 3-D cone whose oscillatory vertical motion is prescribed as the elevation of a focused wave group is a precise test case for numerical free-surface schemes. We consider two forms of repulsive boundary condition (Monaghan & Kos, 1999, and Rogers et al., 2008) and particle boundary force (Kajtar and Monaghan, 2009) for the 2-D wedge case, comparing the result with the experimental data of Drake et al. (2009). The repulsive boundary condition was more effective than the particle boundary force method. Variable particle mass with different kernel sizes was then tested for 2-D problems for mass ratios of 1:4, 1:16 and 1:4:16 with satisfactory results without particle clumping and instability. For the 3-D cone case, SPH reproduces the experimental results very closely for the lower frequency tested where there is no separation from the bottom surface of the body but for the higher frequencies the magnitudes of force minima were underestimated. The mass ratios of 1:8 and 1:8:27 in two and three nested regions are tested for the 3-D cone problem where a computer run time speedup of nearly 500% is achieved on 16 processors for the mass ratio of 1:8.Finally, the floating body of a heaving wave energy device known as the Manchester Bobber is modelled in extreme waves without power take-off. The results for a single float are in approximate agreement with the experiment.

The work of this dissertation will study various aspects of the dynamics of compact objects using numerical simulations.We consider BH dynamics within two modified or alternative theories of gravity. Within a family of Einstein-Maxwell-Dilaton-Axion theories, we find that the GW waveforms from binary black hole (BBH) mergers differ from the standard GW waveform prediction of GR for especially large axion values. For more astrophysically realistic (i.e. smaller) values, the differences become negligible and undetectable. Weestablish the existence of a well-posed initial value problem for a second alternative theory fo gravity (quadratic gravity) and demonstrate in spherical symmetry that a linear instability is effectively removed on consideration of the full nonlinear theory.We describe the key components and development of a code for studying BBH mergers for which the mass ratio of the binaries is not close to one. Such intermediate mass ratio inspirals (IMRIs) are much more difficult to simulate and present greater demands on resolution, distributed computing, accuracy and efficiency. To this end, we present a highly-scalable framework that combines a parallel octree-refined adaptive mesh with a wavelet adaptive multiresolution approach. We give results for IMRIs with mass ratios up to 100:1. We study the ejecta from BNS in Newtonian gravity. Using smoothed particle hydrodynamics we develop and present the highly scalable FleCSPH code to simulate such mergers. As part of the ejecta analysis, we consider these mergers and their aftermath as prime candidates for heavy element creation and calculate r-process nucleosynthesis within the post-merger ejecta. Lastly we consider a non-standard, yet increasingly explored, interaction between a BH and a NS that serves as a toy model for primordial black holes (PBH) and their possible role as dark matter candidates. We present results from a study of such systems in which a small BH forms at the center of a NS. Evolving the spherically symmetric system in full GR, we follow the complete dynamics as the small BH consumes the NS from within. Using numerical simulations, we examine the time scale for the NS to collapse into the PBH and show that essentially nothing remains behind. As a result, and in contradiction to other claims in the literature, we conclude that thisis an unlikely site for ejecta and nucleosynthesis, at least in spherical symmetry.

This thesis describes efforts to improve the realism of numerical models of giant planet formation and migration in an attempt to better understand these processes. A new approach has been taken to the modelling of accretion, designed to mimic reality by allowing gas to accumulate upon a protoplanetary surface. Implementing this treatment in three-dimensional self-gravity radiation hydrodynamics calculations provides an excellent model for planet growth, allowing an exploration of the factors that affect accretion. Moreover, these calculations have also been extended to investigate the migration of protoplanets through their parent discs as they grow. When focusing on the growth of non-migrating protoplanets, the models are performed using small sections of disc, enabling excellent resolution right down to the core; gas structures and flow can be resolved on scales from ~ 10^4 to 10^11 metres. Using radiative transfer, these models reveal the importance of opacity in determining the accretion rates. For the low mass protoplanets, equivalent in mass to a giant planet core (~ 10 M⊕), the accretion rates were found to increase by up to an order of magnitude for a factor of 100 reduction in the grain opacity of the parent circumstellar disc. However, even these low opacities lead to growth rates that are an order of magnitude slower than those obtained in locally-isothermal conditions. For high mass protoplanets (>~ 100M⊕), the accretion rates show very little dependence upon opacity. Nevertheless, the rates obtained using radiative transfer are still lower than those obtained in locally-isothermal models by a factor of ~2, due to the release of accretion energy as heat. Only high mass protoplanets are found to be capable of developing circumplanetary discs, and this ability is dependent upon the opacity, as are the scaleheights of such discs. However, their radial extents were found to be independent of the opacity and the protoplanet mass, all reaching ≈ RH/3, inline with analytic predictions. Migration is investigated using global models, ensuring a self-consistently evolved disc. Using locally-isothermal calculations, it was found that the capture radius of an accreting sink particle, used to model a protoplanet without a surface, must be small (<< RH) to yield migration timescales consistent with linear theory of Type I migration. In the low mass regime of Type I migration, accreting sinks with such small radii yield timescales consistent with those models in which a protoplanetary surface is used. However, for high mass protoplanets, undergoing Type II migration, the surface treatment leads to faster rates of migration, indicating the importance of a realistic accretion model. Using radiative transfer, with high opacities, leads to a factor of ~ 3 increase in the migration timescale of the lowest mass protoplanets, improving their chances of survival. As suitable gas giant progenitors, their survival is key to understanding the growth of giant planets. An unexpected result of the radiative transfer was a reduction in the migration timescale of high mass planets. This appears to be a result of the less thoroughly evacuated gaps created by planets in non-locally-isothermal discs, which affects the corotation torque.

Le procédé du rotomoulage réactif est une technologie de fabrication de pièces creuses de taille et géométrie très variés. Une compréhension et une modélisation des phénomènes physiques qui interviennent dans les différentes étapes de la fabrication apportent une contribution importante à la maîtrise de ce procédé. Les travaux abordés dans cette thèse se situent dans le cadre d'un programme plus général visant le contrôle et le pilotage du rotomoulage réactif.Tout d'abord, une caractérisation et modélisation de la cinétique du polyuréthane thermodurcissable en mode dynamique est réalisé suivie par des mesures rhéologiques afin d'établir des lois rhéocinétique ainsi que des lois du comportement viscoélastiques du système réactionnel. Ces lois de comportement sont établies conformément aux conditions réelles de la mise en œuvre du matériau.Ensuite, nous simulons le procédé du rotomoulage en utilisant un code de calcul basé sur la méthode « Smoothed Particle Hydrodynamics » (SPH), développé par notre équipe, en implémentant des nouveaux paramètres physiques: le caractère non-newtonien du mélange réactionnel et les effets de tension superficielle.Le modèle de tension de surface en 2 et 3D développé dans cette thèse permet la détection explicite de l'interface séparant le fluide réactif de l'air. Puis, nous utilisons l'interpolation lagrangienne ou la régression circulaire pour construire la courbe d'interface en 2D et la surface d'interface en 3D sera reconstruite via la régression sphérique. Quant à la modélisation de l'écoulement du fluide non-newtonien, une loi de puissance décrivant l'évolution de la viscosité en fonction du taux de cisaillement a été intégrée dans le solveur pour décrire le caractère non-newtonien du mélange réactionnel durant sa mise en œuvre. Ces paramètres physiques implémentés dans le code ont été validé par une série de cas de tests en 2 et 3D.L'intégration des effets de tension de surface et la prise en compte du caractère non-newtonien du fluide réactif nous ont permis de mieux présenter la mouillabilité de la surface interne du moule et l'étalement des différentes couches du polymères.Mots clés : rotomoulage réactif, polyuréthane thermodurcissable, rhéocinétique, Smoothed Particle Hydrodynamics, tension de surface, fluide non-newtonien, simulation. / Reactive Rotational molding (RRM) is a process for manufacturing hollow plastic products with no weld lines, in virtually any shape, size, color and configuration, using biaxial rotation and high temperature. Understanding and modelling of physical phenomena provide a great contribution for process control that is the purpose of a more general program.Firstly, a characterization and the kinetic modeling of the thermoset polyurethane are performed in anisothermal conditions followed by rheological measurements in order to establish rheokinetik model and the the viscoelastic behavior of the reactive system according with RRM conditions.Afterwards, to simulate the RRM, Smoothed Particles Hydrodynamics (SPH) method is applied which is suited method to simulate the fluid flow with free surface such as occurs at RRM. This solver is developed by our team. Modelling and simulating reactive system flow depend on different parameters; the physical phenomena involved are: surface tension force and non-newtonian fluid behavior.The surface tension method has been successfully applied to simulate RRM using SPH solver taking into account free surface tension force. Surface tension force is given explicitly in the current model. After detecting the boundary particles, the interface is locally fitted by using Lagrangian interpolation polynomial or fitting circle in 2D and by using fitting sphere in 3D, respectively. To study the non-newtonian fluid flow during RRM, a power law describes the evolution of the viscosity versus shear rate was adopted to describe the viscoelastic nature of the reactive fluid during its shaping.The implementation of surface tension and viscoelasticity allows us to present the wettability of internal surface of the mold and the spreading of different polymers layers.Keywords : Reactive rotational molding, thermoset polyurethane, rheokinetik, Smoothed Particle Hydrodynamics, surface tension, non-newtonian fluid, simulation.

Submitted by Maria Cristina (library@lncc.br) on 2017-03-14T15:05:16Z No. of bitstreams: 1 tese_lncc_LEANDRO_TAVARES.pdf: 29698763 bytes, checksum: 86bf9653aed054e6fdf52b75fb82a03d (MD5) / Approved for entry into archive by Maria Cristina (library@lncc.br) on 2017-03-14T15:06:11Z (GMT) No. of bitstreams: 1 tese_lncc_LEANDRO_TAVARES.pdf: 29698763 bytes, checksum: 86bf9653aed054e6fdf52b75fb82a03d (MD5) / Made available in DSpace on 2017-03-14T15:06:31Z (GMT). No. of bitstreams: 1 tese_lncc_LEANDRO_TAVARES.pdf: 29698763 bytes, checksum: 86bf9653aed054e6fdf52b75fb82a03d (MD5) Previous issue date: 2016-09-19 / The Smoothed Particle Hydrodynamics (SPH) is a Lagrangian and meshless method for discretization of fluid equations. It has been used to fluid simulation in many areas of engineering and applied sciences. This method discretizes the Navier-Stokes equations using a particle system and interpolation theory. In this context, we developed a variational integrator to SPH, using the generalized midpoint rule and fixed point method. Then, we elaborate a implementation of SPH to simulate a quasi-incompressible fluid under influence of disks that rotates with constant angular velocity (N-roll mill setup). The obtained flow patterns are analyzed using Morse and Catastrophe theories. Finally, the two aforementioned works show us the necessity of techniques for comparing fluid simulations. Hence, we developed a framework to generate a visual summary of a computation fluid simulations by adapting techniques of video summary areas. As contribution of this thesis we highlight that the variational integrator has the property of linear momentum conservation being easier to implement than counterpart ones. Also, we emphasize the methodology to analyze the critical points generated by the original implementation of N-roll mill setup using SPH. Besides, the pioneer adaptation of techniques in video summarization, for computation fluid dynamics, allows to capture a detailed picture of important segments of the fluid for both comparison and analysis of the flows. / O método lagrangiano Smoothed Particle Hydrodynamics (SPH) não utiliza malha subjacente para discretização de equações de fluidos e vêm sendo usado para simulações em diversas áreas do conhecimento. Esse método discretiza as equações de Navier-Stokes usando um sistema de partículas e a teoria de interpolação. Neste contexto, desenvolvemos um integrador variacional para o SPH, utilizando a regra do ponto médio generalizada e o método do ponto fixo. Em seguida, elaboramos uma implementação do SPH para simular um fluido quase-incompressível sob a influência de discos que giram com velocidades angulares constantes (\textit{N-roll mill}), denominado nessa tese de problema de N-rolos, e desenvolvemos uma metodologia para analisar os padrões de fluxos gerados. Para esta análise utilizamos a teoria de Morse e a teoria de Catástrofes de René Thom. Finalmente, os dois trabalhos citados nos mostram a necessidade e carência de técnicas para comparação e análise de fluidos. Logo, desenvolvemos um arcabouço para produção de sumários da simulação, adaptando técnicas da área de sumários de vídeo. Como contribuições da tese destacamos que o integrador variacional desenvolvido apresenta facilidade de implementação em relação a esquemas tradicionais e com conservação de momento linear. Destacamos também a metodologia para análise de pontos críticos gerados pela implementação original do problema de N-rolos usando o SPH, bem como a adaptação pioneira de técnicas de sumarização de vídeo para análise de fluidos.