From bulk descriptions to emergent interfaces: Connecting the Ginzburg-Landau and elastic-line models

Controlling interfaces is highly relevant from a technological point of view. However, their rich and complex behavior makes them very difficult to describe theoretically, and hence to predict. In this work, we establish a procedure to connect two levels of descriptions of interfaces: for a bulk description, we consider a two-dimensional Ginzburg-Landau model evolving with a Langevin equation, and boundary conditions imposing the formation of a rectilinear domain wall. At this level of description no assumptions need to be done over the interface, but analytical calculations are very difficult to handle, especially for disordered systems. On a different level of description, we consider a one-dimensional elastic line model evolving according to the Edwards-Wilkinson equation, which only allows one to study continuous and univalued interfaces, but which was up to now one of the most successful tools to treat interfaces analytically. To establish the connection between the bulk description and the interface description, we propose a simple method which has the advantage to be readily applicable to disordered systems. We probe the connection by numerical simulations at both levels for clean and disordered systems, and our simulations, in addition to making contact with experiments, allow us to test and provide insight to develop new analytical approaches to treat interfaces.

Part load flow in radial centrifugal pumps

Olivier Braun

Centrifugal pumps are required to sustain a stable operation of the system they support under all operating conditions. Minor modifications of the surfaces defining the pump's water passage can influence the tendency to unstable system operation significantly. The action of such modifications on the flow are yet not fully understood, leading to costly trial and error approaches in the solution of instability problems. The part-load flow in centrifugal pumps is inherently time-dependent due to the interaction of the rotating impeller with the stationary diffuser (Rotor-Stator Interaction, RSI). Furthermore, adverse pressure gradients in the pump diffuser may cause flow separation, potentially inducing symmetry-breaking non-uniformities, either spatially stationary or rotating and either steady or intermittent. Rotating stall, characterized by the presence of distinct cells of flow separation on the circumference, rotating at a fraction of the impeller revolution rate, has been observed in thermal and hydraulic turbomachines. Due to its complexity, the part-load flow in radial centrifugal pumps is a major challenge for numerical flow simulation methods. The present study investigates the part-load flow in radial centrifugal pumps and pump-turbines by experimental and numerical methods, the latter using a finite volume discretization of the Reynolds-averaged Navier-Stokes (RANS) equation. Physical phenomena of part load flow are evidenced based on three case studies, and the ability of numerical simulation methods to reproduce part-load flow in radial centrifugal pumps qualitatively and quantitatively is assessed. A numerical study of the flow in a high specific speed radial pump-turbine using steady approaches and the hypothesis of angular periodicity between neighboring blade channels evidences the relation of sudden flow topology changes with an increase of viscous losses, impacting on the energy-discharge characteristic, and thus increasing the risk of unstable operation. When the flow rate drops below a critical threshold, the straight through-flow with flow separation zones attached to the guide vanes changes to an asymmetrical flow. Energy is drawn off the mean flow and dissipated in a large vortex-like structure. Besides flow separation in some diffuser channels, time-dependent numerical simulations of the flow in a double suction pump evidence a flow rate imbalance between both impeller sides interacting with asymmetric flow separation in the diffuser. Viscous losses increase substantially as this imbalance occurs, the resulting segment of positive slope in the energy-discharge characteristic is found for a flow rate sensibly different from measurements. Different modes of rotating stall are identified by transient pressure measurements in a low-specific-speed pump-turbine, showing 3 to 5 zones of separated flow, rotating at 0.016 to 0.028 times impeller rotation rate, depending on discharge. For operating conditions where stall with 4 cells is most pronounced, velocity is measured by Laser-Doppler methods at locations of interest. The velocity field is reconstructed with respect to the passage of stall cells by definition of a stall phase obtained from simultaneous transient pressure measurements. Time-dependent numerical simulation predicting rotating stall with 4 cells shows velocity fields that are in reasonable agreement with the measured velocity fields, but occurring at a sensibly higher flow rate than found from experiments. In consideration of the quantitative shortcomings of the numerical simulation, a novel modelling approach is proposed: Replacing the costly 3-dimensional simulation of the major part of the impeller channels by a 1-dimensional model allows a significant economy in computational resources, allowing an improved modeling for the remainder of the domain at constant computational cost. The model is validated with the challenging cases of rotating stall and impeller side flow rate imbalance. The satisfying coherence of the results with the simulation including the entire impeller channels qualifies this approach for numerous turbomachinery applications. It could also provide improved, time-dependent boundary conditions for draft tube vortex rope simulations at reasonable computational cost. Parameter studies modifying deliberately some quantities of mean flow and turbulence at the modeled boundary surfaces can be implemented in the framework of the method.

EPFL2009

Enabling Large-Scale Collective Systems in Outdoor Aerial Robotics

Severin Leven

For many real-life applications such as monitoring, mapping, search-and-rescue or ad-hoc communication networks, fleets of flying robots are expected to out-perform existing solutions. Robots can join forces to cover larger areas in less time, act as efficient communication relays and overcome difficult terrain more easily than ground-based robots. Compared to a single robot, the main advantages of collective systems are robustness, parallelism, flexibility, and the fact that they enable tasks that could not be solved by a single robot. While a multitude of theoretical models for collective operation have already been developed and tested in simulation, they have rarely been validated with physical robots yet. Transition to reality has so far been inhibited because of strong limitations in scalability. Indeed, the cost, safety risk, and number of operators associated with a collective aerial system increase proportionally with the number of robots. Substituting such systems for single robots is therefore unattractive or even impracticable. In previous experimental approaches, a maximum of five physical robots were operated simultaneously in outdoor scenarios, assisted by human backup pilots on the ground. In contrast, most theoretical models rely on a minimum of ten robots to obtain interesting swarm effects. With respect to this discrepancy, we consider here ten robots to be a large-scale system in aerial robotics. In order to scale real collective aerial systems to at least ten robots, we suggest the following paradigm: flying robots must be low-cost, inherently safe, deal with mid-air collisions and require minimal supervision from an operator on the ground, such that the entire system warrants similar cost as well as similarly safe and easy deployment as a single, classical flying robot. Moreover, this would make swarms of flying robots as accessible as wheeled robots that have already been used successfully in larger collective systems. The above criteria can best be addressed with a global, systematic approach on all major design levels, which are the robot's airframe, low-level control, collective supervision and control as well as mid-air collision avoidance. On each level, we identified the bottlenecks related to scaling and developed methods for compliant robot design. Based on a systematic analysis of airframe configurations, a flying-wing is proposed that is made of low-cost, safe and durable foam material and can be deployed everywhere by hand-launch. A model for the dimensioning of such an airframe is presented. For low-level control, a novel minimalist control strategy is proposed, implemented on an inexpensive, custom-made autopilot and validated in field tests. In order to enable robots for collective operation, we suggest to use WiFi communication links and embedded Linux-computers onto which swarm designers can download distributed controllers for collective behaviors directly from their computer simulation. Furthermore, the idea is put forward to enable collective supervision through an operator interface with the modality for direct group-control. Implemented and field-proven, these solutions can serve as guidelines for other developers. Finally, the problem that robots may collide with each other during collective operation has been addressed with a model assessing the collision risk and a distributed strategy for mid-air collision avoidance, validated on real robots. Applying the proposed methodology allowed us to demonstrate the world's first collective system composed of ten autonomous flying robots in outdoor experiments with several different collective behaviors. Robots are low-cost (about 1/10 the cost of commercially available robots), inherently safe (kinetic energy of a medium-sized bird) and can be configured, deployed and supervised by a single operator on the ground. This represents a significant step for the scaling of flying collective systems with respect to the state of the art as well as an unprecedented operator-to-robot ratio.

EPFL2011

The Soralux Daylighting System: Passive Solar Illumination for Deep-Plan Building Spaces

Daylight is a valuable resource for both energy and human health. However, this resource is often underutilized in buildings due to the difficulty of controlling the changing qualities of daylight. Deep-plan building spaces pose an especially challenging problem because traditional sidelighting strategies are only effective for workplanes adjacent to the facade. Infrequently adjusted shading systems can also limit the availability of daylight. A number of advanced daylighting systems have been developed that attempt to address these challenges with varying priorities and success. This thesis proposes a new technology named the Soralux Daylighting System. The system is passive, requires no shading adjustments, even under direct sunlight, and works well with deep-plan spaces on the order of 8 to 15 m deep. The Soralux system presents itself as a double-glazing window unit, allowing it to be easily integrated into curtain wall facades typical of deep-plan offices in large cities. Computer simulations using the ray tracing programs Radiance and TracePro were conducted to estimate the annual performance of the system. Variables such as facade orientation, sky obstruction, and climate were evaluated for their effect on system performance. The system was found to increase light levels by a factor of 2 to 10 compared to an unshaded window at depths between 8 and 15 m from the facade. Two physical mockups of the Soralux system were fabricated for testing. The first mockup tested was a small proof-of-concept prototype, while the second was a full-scale mockup which was installed in a Tokyo office building. The physical mockups were used to evaluate visual comfort and appearance. A monitoring campaign was also conducted for the Tokyo mockup and the measured data were compared with a Radiance model of the building space to validate the accuracy of the simulation results. The average error between simulated and measured illuminance values was 16%. Based on these results, recommendations are provided identifying which scenarios are well-suited for the system. The Soralux Daylighting System is scheduled to be permanently installed into a Tokyo office building in 2012.

2011