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It is well known that the layout of a large wind turbine cluster aects the energyoutput of the wind farm. The individual placement and distances betweenturbines will in uence the wake spreading and the wind velocity decit. Manyanalytical models and simulations have been made trying to calculate this, butstill there is a lack of experimental data to conrm the models. This thesis isdescribing the preparations and the execution of an experiment that has beenconducted using about 250 small rotating turbine models in a wind tunnel. Theturbine models were developed before the experiment and the characteristicswere investigated. The main focus was laid on special eects occurring in largewind turbine clusters, which were named Global Turbine Array Eects.It was shown that the upstream wind was little aected by a large windfarm downstream, even though there existed a small dierence in wind speedbetween the undisturbed free stream and the wind that arrived to the rstturbines in the wind farm. The dierence in wind speed was shown to beunder 1% of the undisturbed free stream. It was also shown that the densityof the wind farm was related to the reduced wind velocity, with a more densefarm the reduction could get up to 2.5% of the undisturbed free stream at theupstream center turbine. Less velocity decit was observed at the upstreamcorner turbines in the wind farm.When using small rotating turbine models some scaling requirements hadto be considered to make the experiment adaptable to reality. It was concludedthat the thrust coecient of the turbine models was the most important parameterwhen analysing the eects. One problem discussed was the low Reynoldsnumber, an eect always present in wind tunnel studies on small wind turbinemodels.A preliminary investigation of a photo measuring technique was also performed,but the technique was not fully developed. The idea was to take oneor a few photos instantaneously and then calculate the individual rotationalspeed of all the turbine models. It was dicult to apply the technique becauseof uctuations in rotational speed during the experiment, therefore thecalculated values could not represent the mean value over a longer time period.

In day to day life we encounter many different materials which are intermediate between crystalline solids and simple liquids that include paints , glues , suspensions, polymers, surfactants, food and cosmetic products and so on. ‘Soft condensed matter’ is an emerging field of science that aims to generalize the flow and various deformation mechanisms in this apparent diverse class of materials from a ‘mesoscopic’ point of view (important length scales for these systems is usually 10nm-1μm) where the actual atomic and molecular details governed by various quantum mechanical laws are not very important. These soft systems are held together by weaken tropic forces and therefore can be perturbed easily (the typical elastic modulus of these materials is many orders of magnitude lower compared to metallic solids). Moreover, very long relaxation times in these systems(∼10−3 to 1 s) have made them ideal candidates to study non-equilibrium physics. The present Thesis is an endeavor to understand linear and non-linear flow behavior and low Reynolds number instabilities in various soft matter systems like suspensions of flocculated carbon nanotubes and carbon black, surfactant gels, colloidal glasses, Langmuir monolayers etc probed mainly by bulk and interfacial rheology, in-situ light scattering, particle image velocimetry(PIV) techniques and Fourier transform rheology. We also use dynamic light scattering techniques for particle sizing and characterization of Brownian systems. Chapter 1 gives a general introduction to soft condensed matter, particularly, the important length and time scales, various interactions and the rich phase behavior emerged from the delicate balance between energy and entropy in these systems. In this context, We describe the detailed phase behavior of two such systems studied in this thesis. We next describe briefly a few important concepts which motivate the main problems studied in the present thesis like the shear-thickening in suspensions of Brownian and non-Brownian particles, non-equilibrium steady state fluctuation relations in driven systems, elasticity driven instabilities in complex fluids, jamming transitions and aging behavior. This is followed by a discussion of the experimental techniques like linear and nonlinear rheology, including the Fourier transform rheology. Chapter 2 discusses the experimental techniques used by us in detail. We first describe the different components and mode of operations of the MCR-300 stress-controlled rheometer (Paar Physica, Germany) and various experimental geometries. Next we discuss the set up for two dimensional rheological measurements. The homebuilt imaging set up for in-situ polarized light scattering and direct imaging studies is described along with the in-situ particle image velocimetry (PIV) to map out the exact spatially resolved velocity profiles in 2D systems. We give a brief account of the techniques of Fourier transform rheology. At the end of this chapter, we briefly describe the angle resolved dynamic light scattering (DLS) set up (Brookhaven Instruments, USA). In Chapter 3, we study colossal discontinuous shear-thickening transition in confined suspensions of fractal clusters formed by multi-wall carbon nanotubes (MWNT) by rheology and in-situ imaging experiments. Monotonic decrease in viscosity with increasing shear stress, known as shear thinning, is a known rheological response to shear flow in complex fluids in general and for flocculated suspensions in particular. In the present experiments we demonstrate a discontinuous shear thickening transition where the viscosity jumps sharply above a critical shear stress by four to six orders of magnitude in flocculated suspensions of MWNT even at very low weight fractions(∼0.5%). Rheo-optical observations reveal the shear-thickened state as a percolated structure of MWNT flocs spanning the system size. We present a dynamic phase diagram of the non-Brownian MWNT dispersions revealing a starting jammed state followed by shear-thinning and shear-thickened states. The present study further suggests that the shear-thickened state obtained as a function of shear stress is likely to be a generic feature of fractal clusters under flow, albeit under confinement. An understanding of the shear thickening phenomena in confined geometries is pertinent for flow controlled fabrication techniques in enhancing the mechanical strength and transport properties of thin films and wires of nanostructured composites as well as in lubrication issues. We try to understand the flow of jammed and shear-thickened states under constant applied strain rate by studying the building up and relaxation of individual stress fluctuation events similar to the flow in dense granular materials. We also characterize the metastable shear thickened states by superposing a small sinusoidal stress component on a steady applied stress as well as by studying the a thermal entropy consuming fluctuations which are also observed for other jammed systems under an applied steady shear stress as described in the next chapter. Chapter 4 reports the study of non-equilibrium fluctuations in concentrated gels and glassy systems(in jammed state), the nature of fluctuations and their systemsize dependence in the framework of fluctuation relation and Generalized Gumbel distribution. In the first part, we show that the shear rate at a fixed shear stress in a micellar gel in a jammed state exhibits large fluctuations, showing positive and negative values, with the mean shear rate being positive. The resulting probability distribution functions (PDFs) of the global power flux to the system vary from Gaussian to non-Gaussian, depending on the driving stress and in all cases show similar symmetry properties as predicted by Gallavotti-Cohen steady state fluctuation relation. The fluctuation relation allows us to determine an effective temperature related to the structural constraints of the jammed state. We have measured the stress dependence of the effective temperature. Further, experiments reveal that the effective temperature and the standard deviation of the shear rate fluctuations increase with the decrease of the systemsize. In the second part of this chapter, we report a universal large deviation behavior of spatially averaged global injected power just before the rejuvenation of the jammed state formed by an aging suspension of laponite clay under an applied stress. The probability distribution function (PDF) of these entropy consuming strongly non-Gaussian fluctuations follow an universal large deviation functional form described by the Generalized Gumbel (GG) distribution like many other equilibrium and non-equilibrium systems with high degree of correlations but do not obey Gallavotti-Cohen Steady State Fluctuation Relation (SSFR). However, far from the unjamming transition (for smaller applied stresses) SSFR is satisfied for both Gaussian as well as non-Gaussian PDF. The observed slow variation of the mean shear rate with system size supports a recent theoretical prediction for observing GG distribution. We also establish the universality of the observations reported in this chapter in the light of other jammed systems under shear. We examine in the first part of Chapter 5, the shear-thinning behavior of a two dimensional yield stress bearing monolayer of sorbitan tristearate at air/water interface. The flow curve (stress vs shear rate) consists of a linear region at low shear stresses/shear rates, followed by a stress plateau at higher values. The velocity profile obtained from particle imaging velocimetry indicates that shear banding occurs showing coexistence of fluidized region near the rotor and solid region with vanishing shear-rate away from the rotor. In the fluidized region, the velocity profile which is linear at low shear rates becomes exponential at the onset of shear-thinning, followed by a time varying velocity profile in the plateau region. At low values of constant applied shear rates, the viscosity of the film increases with time, thus showing aging behavior like in soft glassy three-dimensional (3D) systems. Further, at the low values of the applied stress in the yield stress regime, the shear-rate fluctuations in time show both positive and negative values, similar to that observed in sheared 3D jammed systems. By carrying out a statistical analysis of these shear-rate fluctuations, we estimate the effective temperature of the soft glassy monolayer using the Galavatti-Cohen steady state fluctuation relation. In the second part of this chapter, we study in detail the non-linear viscoelastic behavior of Langmuir monolayers. Under oscillatory shear usually observed in many 3D metastable complex fluids with large structural relaxation times. At large strain amplitudes(γ), the storage modulus (G”) decreases monotonically whereas the loss modulus (G”) exhibits a peak above a critical strain amplitude before it decreases at higher strain amplitudes. The power law decay exponents of G” and G” are in the ratio 2:1. The peak in G” is absent at high temperatures and low concentration of sorbitan tristearate. Strain-rate frequency sweep measurements on the monolayers do indicate a strain-rate dependence of the structural relaxation time. The present study on sorbitan tristearate monolayers clearly indicates that the nonlinear viscoelastic behavior in 2D Langmuir monolayers is very general and exhibits many of the features observed in 3D complex fluids. We report in the first part of Chapter 6 scattering dichroism experiments to quantify the spatio-temporal nematodynamics of shear-thinning worm like micellar gels of surfactant Cetyltrimethylammonium Tosylate (CTAT) in the presence of salt sodium chloride (NaCl) enroute to rheochaos. For shear rates past the plateau onset, we observe a presence of alternating bright and dark‘ intertwined’ birefringent structures along the vorticity direction. The orientational order corresponding to these structures are predominantly oriented at +45deg and−45deg to the flow (v) in the (v,∇v) plane. The orientational dynamics of the nematics especially at the interface between the structures, has a one-to-one correspondence with the temporal behavior of the stress. Experiments show that the spatial motion of the vorticity structures depend on the gap thickness of the Couette cell. We next discuss the random temporal flow behavior of this system at high values of applied shear rate/stress in the framework of elastic turbulence in the second part of this chapter. Here, we study the statistical properties of spatially averaged global injected power fluctuations for the worm-like micellar system described above. At sufficiently high Weissenberg numbers (Wi) the shear rate and hence the injected power p(t) at a constant applied stress shows large irregular fluctuations in time. The nature of the probability distribution function (PDF) of p(t) and the power-law decay of its power spectrum are very similar to that observed in recent studies of elastic turbulence for polymer solutions. Remarkably, these non-Gaussian pdf scan be well described by an universal large deviation functional form given by the Generalized Gumbel (GG) distribution observed in the context of spatially averaged global measures in diverse classes of highly correlated systems. We show by in-situ rheology and polarized light scattering experiments that in the elastic turbulent regime the flow is spatially smooth but random in time, in agreement with a recent hypothesis for elastic turbulence. In Chapter 7, we study the vorticity banding under large amplitude oscillatory shear (LAOS) in a dilute worm-like micellar gel formed by surfactant CTAT by Fourier transform rheology and in-situ polarized light scattering. Under LAOS we found the signature of a non-trivial order-disorder transition of Taylor vortices. In the non-linear regime, higher harmonicde composition of the resulting stress signal reveals that the third harmonic I3 shows a very prominent maximum at the strain value where the number density (nv) of the Taylor vortices is maximum for a wide range of angular frequencies both above and below the linear crossover point. Subsequent increase in applied strain results in distortions of the vortices and a concomitant decrease in nv when I3 also drops very sharply and acts like an order parameter for this order-disorder transition. We further quantify the transition by defining an independent order parameter like quantity from the spatial correlation function of the scattered intensity and equivalently its Fourier transform which essentially captures the non monotonous third harmonic behavior. Lissajous plots indicate an intra-cycle strain hardening for the values of γ corresponding to the peak of I3 similar to that observed for hard-sphere glasses. Our study is an important step forward to correlating the structures developed in the system under LAOS to the appearances of the higher harmonics in the non-linear regime. The Thesis concludes with a summary of the main results and a brief account on the scope of future work as described in Chapter 8.

The labyrinth seal is a non-contact annular type sealing device used to reduce the internal leakage of the working fluid which is caused by the pressure difference between each stage in a turbomachine. Reducing the leakage mass flow rate of the working fluid through the labyrinth seal is desirable because it improves the efficiency of the turbomachine. The carry-over coefficient, based on the divergence angle of the jet, changed with flow parameters with fixed seal geometry while earlier models expressed the carry-over coefficient solely as a function of seal geometry. For both compressible and incompressible flows, the Reynolds number based on clearance was the only flow parameter which could influence the carry-over coefficient. In the case of incompressible flow based on the simulations for various seal geometries and operating conditions, for a given Reynolds number, the carry-over coefficient strongly depended on radial clearance to tooth width ratio. Moreover, in general, the lower the Reynolds number, the larger is the divergence angle of the jet and this results in a smaller carry-over coefficient at lower Reynolds numbers. However, during transition from laminar to turbulent, the carry-over coefficient reduced initially and once the Reynolds number attained a critical value, the carry-over coefficient increased again. In the case of compressible flow, the carry-over coefficient had been slightly increased if radial clearance to tooth width ratio and radial clearance to tooth pitch ratio were increased. Further, the carry-over coefficient did not considerably change if only radial clearance to tooth width ratio was decreased. The discharge coefficient for compressible and incompressible flows depended only on the Reynolds number based on clearance. The discharge coefficient of the tooth in a single cavity labyrinth seal was equivalent to that in a multiple tooth labyrinth seal indicating that flow downstream had negligible effect on the discharge coefficient. In particular, for compressible fluid under certain flow and seal geometric conditions, the discharge coefficient did not increase with an increase in the Reynolds number. It was correlated to the pressure ratio, Pr. Moreover, it was also related to the fact that the flow of the fluid through the constriction became compressible and the flow eventually became choked. At low pressure ratios (less than 0.7), Saikishan’s incompressible model deviated from CFD simulation results. Hence, the effects of compressibility became significant and both the carry-over coefficient compressibility factor and the discharge coefficient compressibility factor needed to be considered and included into the leakage model. The carry-over coefficient compressibility factor, phi, had two linear relationships with positive and negative slopes regarding the pressure ratios. This result was not associated with the seal geometry because the seal geometry ratios for each instance were located within the nearly same ranges. Further, the phi-Pr relationship was independent of the number of teeth regardless of single and multiple cavity labyrinth seals. The discharge coefficient compressibility factor, psi, was a linear relationship with pressure ratios across the tooth as Saikishan predicted. However, in certain flow and seal geometric conditions, Saikishan’s model needed to be modified for the deviation appearing when the pressure ratios were decreased. Hence, a modified psi-Pr relationship including Saikishan’s model was presented in order to compensate for the deviation between the simulations and his model.

The incompressible Navier-Stokes equations have proven formidable for nearly a century. The present difficulties are mathematical and computational in nature; the computational requirements, in particular, are exponentially exacerbated in the presence of high Reynolds number. The issues are further compounded with the introduction of markers or an immiscible fluid intended to be tracked in an ambient high Reynolds number flow; despite the overwhelming pragmatism of problems in this regime, and increasing computational efficacy, even modest problems remain outside the realm of direct approaches. Herein three approaches are presented which embody direct application to problems of this nature. An LES model based on an entropy-viscosity serves to abet the computational resolution requirements imposed by high Reynolds numbers and a one-stage compressive flux, also utilizing an entropy-viscosity, aids in accurate, efficient, conservative transport, free of low order dispersive error, of an immiscible fluid or tracer. Finally, an integral commutator and the theory of anti-dispersive spaces is introduced as a novel theoretical tool for consistency error analysis; in addition the material engenders the construction of error-correction techniques for mass lumping schemes.

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This thesis focuses on the design and development of a fixed wing micro air vehicle (MAV) and on the development of randomized sampling based motion planning and control algorithms for path planning and stabilization of the MAV. In addition, the thesis also contains probabilis-tic analyses of the algorithmic properties of randomized sampling based algorithms, such as completeness and asymptotic optimality. The thesis begins with a detailed discussion on aerodynamic design, computational fluid dy-namic simulations of propeller wake, wind tunnel tests of a 150mm fixed wing micro air ve-hicle. The vehicle is designed in such a way that in spite of the various adverse effects of low Reynolds number aerodynamics and the complex propeller wake interactions with the airframe, the vehicle shows a balance of external forces and moments at most of the operating conditions. This is supported by various CFD analysis and wind tunnel tests and is shown in this thesis. The thesis also contains a reasonably accurate longitudinal and lateral dynamical model of the MAV, which are verified by numerous flight trials. However, there still exists a considerable amount of model uncertainties in the system descrip-tion of the MAV. A robust feedback stabilized close loop flight control law, is designed to attenuate the effects of modelling uncertainties, discrete vertical and head-on wind gusts, and to maintain flight stability and performance requirements at all allowable operating conditions. The controller is implemented in the MAV autopilot hardware with successful close loop flight trials. The flight controller is designed based on the probabilistic robust control approach. The approach is based on statistical average case analysis and synthesis techniques. It removes the conservatism present in the classical robust feedback design (which is based the worst case de-sign techniques) and associated sluggish system response characteristics. Instead of minimizing the effect of the worst case disturbance, a randomized techniques synthesizes a controller for which some performance index is minimized in an empirical average sense. In this thesis it is shown that the degree of conservatism in the design and the number of samples used to by the randomized sampling based techniques has a direct relationship. In particular, it is shown that, as the lower bound on the number of samples reduces, the degree of conservatism increases in the design. Classical motion planning and obstacle avoidance methodologies are computationally expen-sive with the number of degrees of freedom of the vehicle, and therefore, these methodologies are largely inapplicable for MAVs with 6 degrees of freedom. The problem of computational complexity can be avoided using randomized sampling based motion planning algorithms such as probabilistic roadmap method or PRM. However, as a pay-off these algorithms lack algorith-mic completeness properties. In this thesis, it is established that the algorithmic completeness properties are dependent on the choice of the sampling sequences. The thesis contains analy-sis of algorithmic features such as probabilistic completeness and asymptotic optimality of the PRM algorithm and its many variants, under the incremental and independent problem model framework. It is shown in this thesis that the structure of the random sample sequence affects the solution of the sampling based algorithms. The problem of capturing the connectivity of the configuration space in the presence of ob-stacles, which is a central problem in randomized motion planning, is also discussed in this thesis. In particular, the success probability of one such randomized algorithm, named Obsta-cle based Probabilistic Roadmap Method or OBPRM is estimated using geometric probability theory. A direct relationship between the weak upper bound of the success probability and the obstacle geometric features is established. The thesis also contains a new sampling based algorithm which is based on geometric random walk theory, which addresses the problem of capturing the connectivity of the configuration space. The algorithm shows better performance when compared with other similar algorithm such as the Randomized Bridge Builder method for identical benchmark problems. Numerical simulation shows that the algorithm shows en-hanced performance as the dimension of the motion planning problem increases. As one of the central objectives, the thesis proposes a pre-processing technique of the state space of the system to enhance the performance of sampling based kino-dynamic motion plan-ner such as rapidly exploring random tree or RRT. This pre-processing technique can not only be applied for the motion planning of the MAV, but can also be applied for a wide class of vehicle and complex systems with large number of degrees of freedom. The pre-processing techniques identifies the sequence of regions, to be searched for a solution, in order to do mo-tion planning and obstacle avoidance for an MAV, by an RRT planner. Numerical simulation shows significant improvement over the basic RRT planner with a small additional computa-tional overhead. The probabilistic analysis of RRT algorithm and an approximate asymptotic optimality analysis of the solution returned by the algorithm, is also presented in this thesis. In particular, it is shown that the RRT algorithm is not asymptotically optimal. An integral part of the motion planning algorithm is the capability of fast collision detection between various geometric objects. Image space based methods, which uses Graphics Pro-cessing Unit or GPU hardware, and do not use object geometry explicitly, are found to be fast and accurate for this purpose. In this thesis, a new collision detection method between two convex/non-convex objects using GPU, is provided. The performance of the algorithm, which is an extension of an existing algorithm, is verified with numerous collision detection scenarios.

The hypersonic laminar to turbulent transition problem above Mach 10 is addressed experimentally in the short duration VKI Longshot gun tunnel. Reentry conditions are partially duplicated in terms of Mach and Reynolds numbers. Pure nitrogen is used as a test gas with flow enthalpies sufficiently low to avoid its dissociation, thus approaching a perfect gas behavior. The stabilizing effects of Mach number and nosetip bluntness on the development of natural boundary layer disturbances are evaluated over a 7 degrees half-angle conical geometry without angle of attack. <p><p>Emphasis is initially placed on the flow characterization of the Longshot wind tunnel where these experiments are performed. Free-stream static pressure diagnostics are implemented in order to complete existing stagnation point pressure and heat flux measurements on a hemispherical probe. An alternative method used to determine accurate free-stream flow conditions is then derived following a rigorous theoretical approach coupled to the VKI Mutation thermo-chemical library. Resulting sensitivities of free-stream quantities to the experimental inputs are determined and the corresponding uncertainties are quantified and discussed. The benefits of this different approach are underlined, revealing the severe weaknesses of traditional methods based on the measurement of reservoir conditions and the following assumptions of an isentropic and adiabatic flow through the nozzle. The operational map of the Longshot wind tunnel is redefined accordingly. The practical limits associated with the onset of nitrogen flow condensation under non-equilibrium conditions are also accounted for. <p><p>Boundary layer transition experiments are then performed in this environment with free-stream Mach numbers ranging between 10-12. Instrumentation along the 800mm long conical model includes flush-mounted thermocouples and fast-response pressure sensors. Transition locations on sharp cones compare favorably with engineering correlations. A strong stabilizing effect of nosetip bluntness is reported and no transition reversal regime is observed for Re_RN<120000. Wavelet analysis of wall pressure traces denote the presence of inviscid instabilities belonging to Mack's second mode. An excellent agreement with Linear Stability Theory results is obtained from which the N-factor of the Longshot wind tunnel in these conditions is inferred. A novel Schlieren technique using a short duration laser light source is developed, allowing for high-quality flow visualization of the boundary layer disturbances. Comparisons of these measurement techniques between each other are finally reported, providing a detailed view of the transition process above Mach 10. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished