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This paper aims to present a solution to dredging the irrigation canals using a robotic system. Considering the importance of irrigating water, the waste within the water canals should be avoided. Irrigation canals are artificial linear structures in the landscape that are used for transporting the water. One important problem in water transferring is the waste materials flow inside the water, and in some areas, they block the main stream, reducing the effective capacity of the canal. Among the waste materials, aquatic plants are grown on the surface of the canal that needs to be removed from the canal. This removal operation is conducted using chemical, biological, ecological and physical methods with complex supply systems. In addition, robotic systems are used as such complex systems. So, a robotic system is proposed to dredging the irrigation canals. The assumed robot was manufactured in AGRINS laboratory of Tehran University.

Design procedure, dynamic modelling and simulation of this robotic system are studied. To validate the system design before its construction, ADAMS software is used to perform simulations. Finally, performance evaluation of the dredger robot in the canal is studied based on the experimental data.

Results show that the design procedure has been correctly fitted to the real condition. Therefore, the designed robot could be easily used to dredging irrigation canals.

The assumed robot was manufactured in AGRINS laboratory of Tehran University.

Performing a dredging operation in the canals could be conducted by a new technique considering both free sides of the canal. Therefore, in this paper, a conceptual design of a 3-wheels stair dredger robot is numerically and experimentally studied.

The purpose of this paper is to present investigations on the significant influence of the tube material and fin density on fluid elastic instability and vortex shedding in a parallel triangular finned tube array subjected to water cross flow.

The experiment was conducted on finned tube arrays with a fin height of 6 mm and fin density of 3 fins per inch (fpi) and 9 fpi. A dedicated setup has been developed to examine fluid elastic instability and vortex shedding. Nine parallel triangular tube arrays with a pitch to tube diameter ratio of 1.78 were considered. The plain tube arrays, coarse finned tube arrays and fine finned tube arrays each of steel, copper and aluminium materials were tested. Plain tube arrays were tested to compare the results of the finned tube arrays having an effective tube diameter same as that of the plain tube.

A significant effect of fin density and tube material with a variable mass damping parameter was observed on the instability threshold. In the parallel triangular finned tube array subjected to water cross flow, a delay in the instability threshold was observed with an increase in fin density. For steel and aluminium tube arrays, the natural frequency is 9.77 Hz and 10.38 Hz, which is close to each other, whereas natural frequency of the copper tubes is 7.40 Hz. The Connors’ stability constant K for steel and aluminium tube arrays is 4.78 and 4.87, respectively, whereas it is 5.76 for copper tube arrays, which increases considerably compared to aluminum and steel tube arrays. The existence of vortex shedding is confirmed by comparing experimental results with Owen’s hypothesis and the Strouhal number and Reynolds number relationship.

This paper’s results contribute to understand the effect of tube materials and fin density on fluid elastic instability threshold of finned tube arrays subjected to water cross flow.

The prediction of critical velocity at instability threshold for shell and tube heat exchangers is important to avoid failure of tubes as a result of flow-induced vibrations due to water cross flow. The flow-induced vibration in finned tube heat exchangers is affected by various parameters such as fin height, fin pitch, fin material, tube array, pitch ratio, fin type, fluid velocity etc. In this paper, an experimental investigation of fluid elastic instability in shell and tube heat exchangers is carried out by subjecting normal square finned tube arrays of pitch ratio 1.79 to water cross flow.

The five tube arrays, namely plain array, two finned tube arrays with 3 fpi and 9 fpi fin density, and two finned tube arrays with 3 mm and 6 mm fin height are tested in the experimental test setup with water flow loop and vibration measurement system. The research objective is to evaluate the effect of fin density and fin height on the instability threshold. The critical velocity at instability threshold is determined to characterize the fluid elastic instability behavior of different tube arrays. The vortex shedding behavior of the tube arrays is also studied by determining Strouhal number corresponding to the small peaks before fluid elastic instability.

The fluid elastic instability behavior of the tube arrays was found to be the function of fin tube parameters. The experimental results indicate that an increase in fin density and fin height results in delaying the instability threshold for finned tube arrays. It is also observed that critical velocity at instability is increased for finned tube arrays compared to plain tube arrays of the same pitch ratio. The design modifications in the outer box have resulted in further reduction in the natural frequency. This enabled to reach clear instability for all the five-tube arrays.

The research data add the value to the present body of knowledge by knowing the effect of fin height and fin density on the fluid elastic instability threshold of normal square finned tube arrays subjected to water cross flow.

There are three purposes in this paper: to verify the importance of bi-directional fluid-structure interaction algorithm for centrifugal impeller designs; to study the relationship between the flow inside the impeller and the vibration of the blade; study the influence of material properties on flow field and vibration of centrifugal blades.

First, a bi-directional fluid-structure coupling finite element numerical model of the supersonic semi-open centrifugal impeller is established based on the Workbench platform. Then, the calculation results of impeller polytropic efficiency and stage total pressure ratio are compared with the experimental results from the available literature. Finally, the flow field and vibrational characteristics of 17-4PH (PHB), aluminum alloy (AAL) and carbon fiber-reinforced plastic (CFP) blades are compared under different operating conditions.

The results show that the flow fields performance and blade vibration influence each other. The flow fields performance and vibration resistance of CFP blades are higher than those of 17-4PH (PHB) and aluminum alloy (AAL) blades. At the design speed, compared with the PHB blades and AAL blades, the CFP blades deformation is reduced by 34.5% and 9%, the stress is reduced by 69.6% and 20% and the impeller pressure ratio is increased by 0.8% and 0.14%, respectively.

The importance of fluid-structure interaction to the aerodynamic and structural design of centrifugal impeller is revealed, and the superiority over composite materials in the application of centrifugal impeller is verified.