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The purpose of this paper is to investigate a novel stabilization scheme to handle convection and pressure oscillation in the process of solving incompressible laminar…
The purpose of this paper is to investigate a novel stabilization scheme to handle convection and pressure oscillation in the process of solving incompressible laminar flows by finite element method (FEM).
The semi-implicit stabilization scheme, characteristic-based polynomial pressure projection (CBP3) consists of the Characteristic-Galerkin method and polynomial pressure projection. Theoretically, the proposed scheme works for any type of element using equal-order approximation for velocity and pressure. In this work, linear 3-node triangular and 4-node tetrahedral elements are the focus, which are the simplest but most difficult elements for pressure stabilizations.
The present paper proposes a new scheme, which can stabilize FEM solution for flows of both low and relatively high Reynolds numbers. And the influence of stabilization parameters of the CBP3 scheme has also been investigated.
The research in this work is limited to the laminar incompressible flow.
The verification and validation of the CBP3 scheme are conducted by several 2 D and 3 D numerical examples. The scheme could be used to deal with more practical fluid problems.
The application of scheme to study complex hemodynamics of patient-specific abdominal aortic aneurysm is also presented, which demonstrates its potential to solve bio-flows.
The paper simulated 2 D and 3 D numerical examples with superior results compared to existing results and experiments. The novel CBP3 scheme is verified to be very effective in handling convection and pressure oscillation.
The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to…
The purpose of this paper is to enable autonomous door-opening with unknown geometrical constraints. Door-opening is a common action needed for mobile manipulators to perform rescue operation. However, it remains difficult for them to handle it in real rescue environments. The major difficulties of rescue manipulation involve contradiction between unknown geometrical constraints and limited sensors because of extreme physical constraints.
A method for estimating the unknown door geometrical parameters using coordinate transformation of the end-effector with visual teleoperation assists is proposed. A trajectory planning algorithm is developed using geometrical parameters from the proposed method.
The relevant experiments are also conducted using a manipulator suited to extreme physical constraints to open a real door with a locked latch and unknown geometrical parameters, which demonstrates the validity and efficiency of the proposed approach.
This is a novel method for estimating the unknown door geometrical parameters with coordinate transformation of the end-effector through visual teleoperation assists.