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Mobile Robot Tracking Using Image Processing
Krejsa, Jiří ; Věchet, Stanislav ; Ripel, T.
During the evaluation of autonomous mobile robot navigation routines the determination of true robot position on its track is essential. The paper presents simple yet reliable method of tracking robot position using processing of images acquired from the devices positioned above the operation space. The method consists of two steps for each image: detection of the robot in image space and transfer of its coordinates to operation space.
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Neutrally stratified flow modelling over complex terrain at meso-scale: open-cut coal mine study
Nosek, Štěpán ; Jaňour, Zbyněk ; Jurčáková, Klára ; Kellnerová, Radka ; Kukačka, Libor
The objective of this case study was to determine the influence of the coal mine cavity and its vicinity on the main flow field with respect to prevailing wind direction. In order to model the neutrally stratified flow over extremely huge open-cut coal mine Libouš situated at north-west of Czech Republic the laminar flow analogy was applied. The model was scaled down to 1:9000 according to dimensions of wind-tunnel and selected coal mine surroundings. The measurements of longitudinal and lateral velocity components in selected vertical, resp. horizontal planes were performed by LDA. The measured data will be used for validation of CFD simulation and for selections of area of interest at bigger scales where turbulent flow modelling will be performed. The results revealed that not only of cavity shape and deepness but also the surroundings orography has influence on flow pattern, hence on ventilation, within the area of interest.
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Quadrant analysis of turbulent pollution flux above the modelled street intersection
Kukačka, Libor ; Nosek, Štěpán ; Kellnerová, Radka ; Jurčáková, Klára ; Jaňour, Zbyněk
The objective of this experimental study is to determine processes of a vertical turbulent pollution transport above the X-shaped street intersection in an idealised symmetric urban area for several approach flow directions. An experimental set-up for simultaneous measurement of the flow velocity and the tracer gas con-centration in a high temporal resolution is assembled. Vertical turbulent scalar fluxes are computed from the measured data in a horizontal plane above the street intersection. The quadrant analysis was applied to the vertical turbulent pollution fluxes data. Events with dominant contribution to vertical turbulent pollution flux were detected. The mean duration, repetition frequency and the duration percentage were computed for these events. A strong influence of the approach flow direction on the type of dominant events and their characteristics was resolved.
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Numerical simulations of the flow with the prescribed displacement of the airfoil and comparison with experiment
Řidký, Václav ; Šidlof, Petr ; Vlček, Václav
The work is devoted to comparing measured data with the results of numerical simulations. As mathematical model was used mathematical model whitout turbulence for incompressible flow In the experiment was observed the behavior of designed NACA0015 airfoil in airflow. For the numerical solution was used OpenFOAM computational package, this is open-source software based on finite volume method. In the numerical solution is prescribed displacement of the airfoil, which corresponds to the experiment. The velocity at a point close to the airfoil surface is compared with the experimental data obtained from interferographic measurements of the velocity field. Numerical solution is computed on a 3D mesh composed of about 1 million ortogonal hexahedron elements. The time step is limited by the Courant number. Parallel computations are run on supercomputers of the CIV at Technical University in Prague and on a computer cluster of the Faculty of Mechatronics of Liberec . Run time is fixed at five periods, the results from the fifth periods and average value for all periods are then be compared with experiment.
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Computational aeroacoustics of human phonation
Šidlof, Petr ; Zoerner, S.
The current paper presents a CFD model of flow past vibrating vocal folds coupled to an acoustic solver, which calculates the sound sources from the flow field in a hybrid approach. The CFD model is based on the numerical solution of 3D Navier-Stokes equations on a time-dependent domain, solved by cell-centered finite volume method. To capture the fine turbulent scales important for the acoustic source calculations, the equations are discretized and solved on large computational meshes up to 3.2M elements. The CFD simulations were run in parallel using domain decomposition method and OpenMPI implementation of the MPI standard. Aeroacoustic simulations are calculated in a separate step by Lighthill’s acoustic analogy, which determines the acoustic sources based on the fluid field. This is done with the research code CFS++ which employs the finite element method (FEM).
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Reducing the Edge Chipping for Capillary End Face Grinding and Polishing
Hošek, Jan ; Studenovský, K.
This paper presents results of glass capillary end face grinding and polishing by approach that reduces the edge chipping. Brittle materials have natural tendency for edge chipping what leads to beveling the sharp edges. Not beveled sharp edges on glass capillary are important for special applications like surface tension measurement of small liquid samples. We use common grinding and polishing process for capillary end face machining modified with gradual decreasing of grinding load based on the relation of the critical chipping load. Achieved surface roughness is measured using atomic force microscopy (AFM). Capillary inner edge quality is checked both with optical microscopes and electron microscope too. We achieved a non-chipped capillary inner edge with radius down to 100 nm.
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