In this paper, NOx emissions from a diesel engine are modeled with nonlinear autoregressive with exogenous input (NARX) model. Airpath and fuelpath channels are excited by chirp signals where the frequency profile of each channel is generated by increasing the number of sweeps. Past values of the output are employed only in linear prediction with all input regressors, and the most significant input regressors are selected for the nonlinear prediction by orthogonal least square (OLS) algorithm and error reduction ratio. Experimental results show that NOx emissions can be modeled with high validation performance and models obtained using a reduced set of regressors perform better in terms of stability and robustness.
This study presents a biomedical device prototype based on small scale hydrodynamic cavitation. The application of small scale hydrodynamic cavitation and its integration to a biomedical device prototype is offered as an important alternative to other techniques, such as ultrasound therapy, and thus constitutes a local, cheap, and energy-efficient solution, for urinary stone therapy and abnormal tissue ablation (e.g., benign prostate hyperplasia (BPH)). The destructive nature of bubbly, cavitating, flows was exploited, and the potential of the prototype was assessed and characterized. Bubbles generated in a small flow restrictive element (micro-orifice) based on hydrodynamic cavitation were utilized for this purpose. The small bubbly, cavitating, flow generator (micro-orifice) was fitted to a small flexible probe, which was actuated with a micromanipulator using fine control. This probe also houses an imaging device for visualization so that the emerging cavitating flow could be locally targeted to the desired spot. In this study, the feasibility of this alternative treatment method and its integration to a device prototype were successfully accomplished.
In this study, spray formation and atomization, droplet evolutions, break-up, and corresponding cavitating flows at the outlet of a short micro-channel with an inner diameter of 152 μm were experimentally studied at different injection pressures with the use of a high speed visualization system. High speed visualization was performed at five different segments to cover a ∼27.5 mm distance beginning from the micro-channel outlet (Five segments, at distances of 0-5.5, 5.5-11, 11-16.5, 16.5-22 and 22-27.5 mm from the micro-channel outlet) to assess the spray formation mechanism. High speed visualization revealed that droplet evolution is initiated from the second segment at low upstream pressures (5-30 bars), whereas droplets are discretized from the liquid jet in the fourth and fifth segments at medium and high upstream pressures (40-100 bars). Bigger size droplets formed at the outlet up to an injection pressure of 30 bars, while cavitation effect of intensified cavitating flows became dominant beyond this injection pressure, leading to smaller droplet sizes and a more conical spray. Pressure drop was correlated together with Martinelli parameter for cavitating flows and a new correlation for two-phase pressure drop was developed. Moreover, in order to segment the discretized droplets at low upstream pressure (5-30 bars) from captured images and to perform an in-depth analysis on them, an active contour approach utilizing curve evolution and level set formulation was implemented. As shown by experimental results, droplets were successfully segmented at different low pressure levels. The droplet/bubble evolution can be exploited in biomedical and engineering applications, where destructive effects of bubbly cavitating flows are needed.
Kidney stone and prostate hyperplasia are very common urogenital diseases all over the world. To treat these diseases, one of the ESWL (Extracorporeal Shock Wave Lithotripsy), PCNL (Percutaneous Nephrolithotomy), cystoscopes or open surgery techniques can be used. Cystoscopes named devices are used for in-vivo intervention. A flexible or rigid cystoscope device is inserted into human body and operates on interested area. In this study, a flexible cystoscope prototype has been developed. The prototype is able to bend up to ±40°in X and Y axes, has a hydrodynamic cavitation probe for rounding sharp edges of kidney stone or resection of the filled prostate with hydrodynamic cavitation method and contains a waterproof medical camera to give visual feedback to the operator. The operator steers the flexible end-effector via joystick toward target region. This paper presents design, manufacturing, control and experimental setup of the tendon driven flexible cystoscope prototype. The prototype is 10 mm in outer diameter, 70 mm in flexible part only and 120 mm in total length with flexible part and rigid tube. The experimental results show that the prototype bending mechanism, control system, manufactured prototype parts and experimental setup function properly. A small piece of real kidney stone was broken in targeted area.
This paper presents a novel acceleration feedback control method for robust hovering of a quadrotor subject to aerodynamic disturbances. An acceleration based disturbance observer (ABDOB) is designed to reject disturbances acting on the positional dynamics of the quadrotor. In order to provide high stiffness against disturbances acting on the attitude dynamics, a nested position, velocity and inner acceleration feedback control structure that utilizes PID and PI type controllers is developed. To obtain reliable angular acceleration information, a cascaded estimation technique based on an extended Kalman filter (EKF) and a classical Kalman filter (KF) is proposed. EKF estimates the Euler angles and gyro biases by fusing the data from gyroscope, accelerometer and magnetometer. Compensated gyro data are then fed into a Kalman filter whose process model is derived from Taylor series expansion of angular velocities and accelerations where angular jerks are considered as stochastic inputs. The well-known kinematic relation between Euler angular rates and angular velocities is employed to estimate reliable Euler accelerations. Estimated Euler angles, rates and accelerations are then used as feedback signals in the nested attitude control structure. Performance of the proposed method is assessed by a high fidelity simulation model where uncertainties in the sensor measurements, e.g. sensor bias and noise, are also considered. Developed controllers that utilize estimated acceleration feedback provide extremely robust hovering results when the quadrotor is subject to wind gusts generated by Dryden wind model. Simulation results show that utilization of acceleration feedback in hovering control significantly reduces the deviations in the x-y position of the quadrotor.
In this paper, we develop a new method to track the evolution of bubbles or droplets in jet flow. Proposed tracker fuses shape and motion features of the individually detected droplets in 2D shadow images and employs the Bhattacharyya distance to assign the closest one among candidate droplet regions. Distinct from the existing droplet tracking techniques in the literature, shapes of the target droplets were not assumed to be circles or ellipses. Instead evolving droplet contours were extracted and analyzed. Proposed tracking algorithm could achieve real time performance with 16 fps in MATLAB environment. Single, double and triple droplets were tracked with the average accuracy of 87%, 87% and 83%, respectively. Experimental results were then evaluated to explain the underlying jet phenomena.
Fluid systems such as the multiphase flow and the jet flow usually involve droplets and/or bubbles whose morphological properties can provide important clues about the underlying phenomena. In this paper, we develop a new visual tracking method to track the evolution of single droplets in the jet flow. Shape and motion features of the detected droplets are fused and Bhattacharyya distance is employed to find the closest droplet among possible candidates in consecutive frames. Shapes of the droplets are not assumed to be circles or ellipses during segmentation process, which utilizes morphological operations and thresholding. The evolution of single droplets in the jet flow were monitored via Particle Shadow Sizing (PSS) technique where they were tracked with 86 % average accuracy and 15 fps real-time performance.
Recent studies show the destructive effect of the energy released from the collapse of cavitation bubbles, which are generated in micro domains, on the targeted surfaces. The cavitation phenomenon occurs at low local pressures within flow restrictive elements and strongly affects fluid flow regimes inside microchannels which results in spray formation. Extended cavitation bubbles toward the outlet of the microchannel, droplet evolution, and spray breakup are among crucial mechanisms to be considered in spray structure. In this study, various spray structures under the effect of hydrodynamic cavitation were recorded using a high speed visualization system. Acquired images were analyzed and characterized using several image processing algorithms. In this regard, the fluid flow with ascending upstream pressures from 10 to 120 bar were passed through a microchannel with an inner diameter of 0.152 mm. The spray at the outlet of the microchannel was analyzed for these pressures in four different segments. Particle Shadow Sizing (PSS) imaging and several image processing techniques such as contrast stretching, thresholding and morphological operations were employed to identify the flow regimes in the separated segments. In addition, a vision based estimation technique that utilizes a Kalman filter was developed to estimate cone angle of the spray. Furthermore, classification of fluid flow regimes and morphological characteristics of the spray structure were outlined based on the cavitation number.
This paper presents visualization and image processing of spray structure affected by cavitation bubbles and cavitating flow patterns. Experiments were conducted for a better understanding of cavitation and resulting flow regimes. Cavitation is generated with sudden pressure drop across a 4.5 mm long short micro-channel with an inner diameter of 152 μm connected to the setup using proper fittings. Generated cavitation bubbles and fluid flow patterns were observed by using a high speed camera. The spray structure was observed in four different segments and mainly the droplet evaluation in the lower segments for low upstream pressures was analyzed using several image processing techniques including contrast adjustments and morphological operators. Moreover, fluid flow regimes for different upstream pressures were investigated, and the flow patterns were analyzed in the separated regions of the spray.
Hydrodynamic cavitation is an effective and alternative treatment method in various biomedical applications such as kidney stone erosion, ablation of benign prostatic hyperplasia tissues and annihilation of detrimental cells. In order to effectively position the orifice of bubbly cavitating flow generator towards the target and control the destructive cavitation effect, cone angle of multi-phase bubbly flow and distributions of scattered bubble swarms around main flow must be determined. This paper presents two vision based solutions to determine these quantities. 3D Gaussian modeling of multi-phase flow and edge slopes of cross-section are used to estimate the cone angle in a Kalman filter framework. Scattered bubble swarm distributions around main flow were assumed as a normal distribution and analyzed with the help of covariance matrix of the bubble position data. Hydrodynamical cavitating bubbles were generated from 0.45 cm long micro probe with 152μm inner diameter under 10 to 120 bars pressures and monitored via Particle Shadow Sizing technique. Proposed methods enabled to quantize the increasing inlet pressure effect on bubbly cavitating multi-phase flow.