By testing 120-180 µm, 120-350 µm, 250-350 µm, and 430-600 µm dry glass bead ranges, an increase in diameter size is seen to result in both higher shear stress values and an increasing slope of plotted shear stress vs. applied normal stress. From constructed Mohr’s Circles, it is observed that flow function is quite high amongst tested dry materials, all yielding values above 20. A high flow function value (>10) is indicative of a good flow.1 Flow function was observed to increase with increasing diameter size until a slight drop was observed at the 430-600 µm range, possibly due to material quality or being near the size limitation of testing within the FT4, where materials must be less than 1000 µm in diameter.However, no trend could be observed in flowability as diameter size was increased.
Through the use of an antistatic solution, the effect of electrostatic forces generated by colliding particles was tested. No significant effect on the shear stress properties was observed.
Wet material testing occurred with the 120-180 µm glass bead range using a deionized water content of 0%, 1%, 5%, 15%, and 20% by mass. The results of such testing yielded an increase in shear stress values at applied normal stress values as moisture content is increased, as well as a decrease in the resulting flow function parameter. However, this trend changed as 20% moisture content was achieved; the wet material became a consistent paste, and a large drop in shear stress values occurred along with an increase in flowability.
Rotary drums are used to manufacture pharmaceuticals, cement, food, and other particulate products because of their high heat and mass transfer rates. These processes are governed by particle parameters, such as particle size, particle distribution, and shape, and operating parameters, such as rotation rate and fill level. Enormous energy savings are possible with further research in rotary drums due to potential increases in operating efficiency. This study investigates the drum rotation rate on particle bed temperature at temperatures above 500 °C to see the role that radiation heat transfer plays in this process. 2 mm silica beads and a stainless steel rotary drum were used at a fill level of 25% with rotation rates from 2-10 rpm. A new setup and procedure were developed using heating coils and an IR camera to reach high temperatures. The inner drum wall temperature exceeded the outer drum wall temperature because the steel transmitted more heat into the drum at higher temperatures. Although it was unclear whether the heat transfer rate was affected by the increasing rotation rate, the highest final average particle temperature was obtained at 5 rpm. The particle bed temperature distribution narrowed as the rotation rate increased because, at higher rotation rates, more particles are in contact with the drum wall than at lower rotation rates.
for Unmanned Aerial Vehicles.
Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin’s curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate
these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.