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Anirban Guha

Publications and source records attributed to Anirban Guha.

At least 19 recordsLinked to original sources

Task Capability Improvement Algorithm for Collaborative Manipulators

This work introduces a cooperative task capability improvement utilizing additional moments. The manipulators apply forces at the object's grasp point. Applying forces at a point other than the object's center of gravity produces undesired moments. The undesired moment acts as an additional moment. It improves the capability of an individual manipulator and, hence, the entire collaborative group. Any improvements in task capability directly add up to the object and transportation capability. The group's enhanced capability also helps achieve optimal capability, optimal resource allocation, and maximum fault tolerance in object manipulation. Our simulation results show an improvement in the capability of 5.86 \% compared to when no moment is used to enhance the capability of the manipulators.

cs.RO

Motion Planning of Cooperative Nonholonomic Mobile Manipulators

We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the static, obstacle-free regions in the environment and generates a set of convex, static, obstacle-free regions around the path using a novel, fast, and computationally lightweight ellipse-based technique. We introduce a nonlinear Model Predictive Control (NMPC) based real-time implementable planning technique that jointly plans feasible motion for the mobile base and the manipulator's arm and generates a kinodynamic feasible, collision-free trajectory for cooperative object transportation. Simulation and hardware experiments validate the efficiency of our proposed planning framework.

cs.RO

Stability analysis of time-periodic shear flow generated by an oscillating density interface

We consider the conceptual two-layered oscillating tank of Inoue & Smyth (2009), which mimics the time-periodic parallel shear flow generated by low-frequency (e.g. semi-diurnal tides) and small-angle oscillations of the density interface. Such self-induced shear of an oscillating pycnocline may provide an alternate pathway to pycnocline turbulence and diapycnal mixing in addition to the turbulence and mixing driven by wind-induced shear of the surface mixed layer. We theoretically investigate shear instabilities arising in the inviscid two-layered oscillating tank configuration and show that the equation governing the evolution of linear perturbations on the density interface is a Schrödinger-type ordinary differential equation with a periodic potential. The necessary and sufficient stability condition is governed by a nondimensional parameter $β$ resembling the inverse Richardson number; for two layers of equal thickness, instability arises when $β\!>\!1/4$. When this condition is satisfied, the flow is initially stable but finally tunnels into the unstable region after reaching the time marking the turning point. Once unstable, perturbations grow exponentially and reveal characteristics of Kelvin-Helmholtz (KH) instability. The Modified Airy Function method, which is an improved variant of the Wentzel-Kramers-Brillouin (WKB) theory, is implemented to obtain a uniformly valid, composite approximate solution to the interface evolution. Next, we analyse the fully nonlinear stages of interface evolution by modifying the circulation evolution equation in the standard vortex blob method, which reveals that the interface rolls up into KH billows. Finally, we undertake real case studies of Lake Geneva and Chesapeake Bay to provide a physical perspective.

physics.flu-dyn

Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators

This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel algorithm detects the narrow regions between the static obstacles and aids in defining the obstacle-free region to enhance the feasibility of the global path. We then formulate a local online motion planning technique for trajectory generation that minimizes the control efforts in a receding horizon manner. It plans the trajectory for finite time horizons, considering the kinodynamic constraints and the static and dynamic obstacles. The planning technique jointly plans for the mobile bases and the arms to utilize the locomotion capability of the mobile base and the manipulation capability of the arm efficiently. We use a convex cone approach to avoid self-collision of the formation by modifying the mobile manipulators admissible state without imposing additional constraints. Numerical simulations and hardware experiments showcase the efficiency of the proposed approach.

cs.RO

5-wave interactions in inertia-gravity waves

In oceans, multiple energetic inertia-gravity waves often coexist in a region. In this paper, we study the stability of two coexisting plane inertia-gravity waves (hereafter, primary waves), with the same frequencies ($ω_1$) and wavevector norms, in a region of constant background stratification (denoted by $N$). Specifically, we explore the decay of two primary waves through triadic resonant instabilities (TRIs) in cases where the primary waves do not resonantly interact with each other. Two coexisting primary waves undergoing triadic resonant instability can force two secondary waves each, and this results in two 3-wave systems (3WS). In some cases, two primary waves can have a common secondary wave, and this results in a 5-wave system (5WS) composed of two different triads. We show that 5WSs are the dominant instabilities with higher growth rates than standard triads for a wide range of Coriolis frequency values ($f$). For 2D cases, 5WSs have higher growth rates than triads for $f/ω_1\gtrapprox0.3$ and for primary waves with the same horizontal (vertical) wavenumber but with opposite vertical (horizontal) wavenumber. Similar results are observed for 3D cases where the primary waves are not on the same vertical plane. Numerical simulations match the theoretical growth rates of 5WSs for a wide range of latitudes, except when $f/ω_1\approx0.5$ (critical latitude). Using theory and simulations, we show that the maximum growth rate near the critical latitude is approximately twice the maximum growth rate of all triads.

physics.flu-dyn

Relating interfacial Rossby wave interaction in shear flows with Feynman's two-state coupled quantum system model for the Josephson junction

Here we show how Feynman's simplified model for the Josephson junction, as a macroscopic two-state coupled quantum system, has a one-to-one correspondence with the stable dynamics of two interfacial Rossby waves in piecewise linear shear flows. The conservation of electric charge and energy of the superconducting electron gas layers become respectively equivalent to the conservation of wave action and pseudoenergy of the Rossby waves. Quantum-like tunneling is enabled via action-at-a-distance between the two Rossby waves. Furthermore, the quantum-like phenomena of avoided crossing between eigenstates, described by the Klein-Gordon equation, is obtained as well in the classical shear flow system. In the latter, it results from the inherent difference in pseudoenergy between the in-phase and anti-phased normal modes of the interfacial waves. This provides an intuitive physical meaning to the role of the wavefunction's phase in the quantum system. A partial analog to the quantum collapse of the wavefunction is also obtained due to the existence of a separatrix between "normal mode regions of influence" on the phase plane, describing the system's dynamics. As for two-state quantum bits (qubits), the two-Rossby wave system solutions can be represented on a Bloch sphere, where the Hadamard gate transforms the two normal modes/eigenstates into an intuitive computational basis in which only one interface is occupied by a Rossby wave. Yet, it is a classical system which lacks exact analogs to collapse and entanglement, thus cannot be used for quantum computation, even in principle.

physics.class-ph

Understanding Stokes drift mechanism via crest and trough phase estimates

By providing mathematical estimates, this paper answers a fundamental question -- "what leads to Stokes drift"? Although overwhelmingly understood for water waves, Stokes drift is a generic mechanism that stems from kinematics and occurs in any non-transverse wave in fluids. To showcase its generality, we undertake a comparative study of the pathline equation of sound (1D) and intermediate-depth water (2D) waves. Although we obtain a closed-form solution $\mathbf{x}(t)$ for the specific case of linear sound waves, a more generic and meaningful approach involves the application of asymptotic methods and expressing variables in terms of the Lagrangian phase $θ$. We show that the latter reduces the 2D pathline equation of water waves to 1D. Using asymptotic methods, we solve the respective pathline equation for sound and water waves, and for each case, we obtain a parametric representation of particle position $\mathbf{x}(θ)$ and elapsed time $t(θ)$. Such a parametric description has allowed us to obtain second-order-accurate expressions for the time duration, horizontal displacement, and average horizontal velocity of a particle in the crest and trough phases. All these quantities are of higher magnitude in the crest phase in comparison to the trough, leading to a forward drift, i.e. Stokes drift. We also explore particle trajectory due to second-order Stokes waves and compare it with linear waves. While finite amplitude waves modify the estimates obtained from linear waves, the understanding acquired from linear waves is generally found to be valid.

physics.flu-dyn

Seat pan angle optimization for vehicle ride comfort using finite element model of human spine

Ride comfort of the driver/occupant of a vehicle has been usually analyzed by multibody biodynamic models of human beings. Accurate modeling of critical segments of the human body, e.g. the spine requires these models to have a very high number of segments. The resultant increase in degrees of freedom makes these models difficult to analyze and not able to provide certain details such as seat pressure distribution, the effect of cushion shapes, material, etc. This work presents a finite element based model of a human being seated in a vehicle in which the spine has been modelled in 3-D. It consists of cervical to coccyx vertebrae, ligaments, and discs and has been validated against modal frequencies reported in the literature. It was then subjected to sinusoidal vertical RMS acceleration of 0.1 g for mimicking road induced vibration. The dynamic characteristics of the human body were studied in terms of the seat to head transmissibility and intervertebral disc pressure. The effect of the seat pan angle on these parameters was studied and it was established that the optimum angle should lie between 15 and 19 degrees. This work is expected to be followed up by more simulations of this nature to study other human body comfort and seat design related parameters leading to optimized seat designs for various ride conditions.

physics.med-ph

A new Lagrangian drift mechanism due to current-bathymetry interactions: applications in coastal cross-shelf transport

We show that in free surface flows, a uniform, streamwise current over small-amplitude wavy bottom topography generates cross-stream drift velocity. This drift mechanism, referred to as the current-bathymetry interaction induced drift (CBIID), is specifically understood in the context of a simplified nearshore environment consisting of a uniform alongshore current, onshore propagating surface waves, and monochromatic wavy bottom making an oblique angle with the shoreline. CBIID is found to originate from the steady, non-homogeneous solution of the governing system of equations. Similar to Stokes drift induced by surface waves, CBIID also generates a compensating Eulerian return flow to satisfy the no-flux lateral boundaries, e.g. the shoreline. CBIID increases with an increase in the particle's initial depth, bottom undulation's amplitude, and the strength of the alongshore current. Additionally, CBIID near the free (bottom) surface increases (decreases) with an increase in bottom undulation's wavelength. Maximum CBIID is obtained for long wavelength bottom topography that approximately makes $π/4$ angle with the shoreline. Unlike Stokes drift, particle excursions due to current-bathymetry interactions might not be small, hence analytical expressions based on the small-excursion approximation could be inaccurate. We provide an alternative $z$-bounded approximation, which leads to highly accurate expressions for drift velocity and time period of particles especially located near the free surface. Realistic parametric analysis reveals that in some nearshore environments, CBIID's contribution to the net Lagrangian drift can be as important as Stokes drift, implying that CBIID can have major implications in cross-shelf tracer transport.

physics.flu-dyn

Resonant and near-resonant internal wave triads for non-uniform stratifications. Part 2: Vertically bounded domain with mild-slope bathymetry

Weakly nonlinear internal wave-wave interaction is a key mechanism that cascades energy from large to small scales, leading to ocean turbulence and mixing. Oceans typically have a non-uniform density stratification profile; moreover, submarine topography leads to a spatially varying ocean depth ($h$). Under these conditions and assuming mild-slope bathymetry, we employ multiple-scale analysis to derive the wave amplitude equations for triadic- and self-interactions. The waves are assumed to have a slowly (rapidly) varying amplitude (phase) in space and time. For uniform stratifications, the horizontal wavenumber ($k$) condition for waves ($1$,$2$,$3$), given by ${k}_{(1,a)}+{k}_{(2,b)}+{k}_{(3,c)}=0$, is unaffected as $h$ is varied, where $(a,b,c)$ denote the modenumber. Moreover, the nonlinear coupling coefficients (NLC) are proportional to $1/h^2$, implying that triadic waves grow faster while travelling up a seamount. For non-uniform stratifications, triads that do not satisfy the condition $a=b=c$ may not satisfy the horizontal wavenumber condition as $h$ is varied, and unlike uniform stratification, the NLC may not decrease (increase) monotonically with increasing (decreasing) $h$. NLC, and hence wave growth rates for both triads and self-interactions, can also vary rapidly with $h$. The most unstable daughter wave combination of a triad with a mode-1 parent wave can also change for relatively small changes in $h$. We also investigate higher-order self-interactions in the presence of a monochromatic, small amplitude bathymetry; here the bathymetry behaves as a zero frequency wave. We derive the amplitude evolution equations and show that higher-order self-interactions might be a viable mechanism of energy cascade.

physics.flu-dyn

Pairs of surface wave packets with zero-sum energy in the Hawking radiation analog

Here we propose a minimal analog gravity setup and suggest how to select two surface gravity wave packets in order to mimic some key aspects of Hawking radiation from the horizon of non-rotating black holes. Our proposed setup, unlike the scattering problem conventionally studied, constitutes of a constant mean flow over a flat bathymetry, in which the two wave packets possess the same amount of wave action but equal and opposite (sign) amount of energy, thereby mimicking virtual particles created out of near horizon vacuum fluctuations. Attention is given to the physical mechanism relating to the signs of the wave action and energy norm with the wave's intrinsic and total phase speeds. We construct narrow wave packets of equal wave action, the one with positive energy and group speed propagates against the mean flow and escapes from the black hole as Hawking radiation, while the other with negative energy and group speed is drifted by the mean flow and falls into it. Hawking's prediction of low frequency mode amplification is satisfied in our minimal model by construction. We find that the centroid wavenumbers and surface elevation amplitudes of the wave packets are related by simple analytical expressions.

physics.flu-dyn

Modified Stokes drift due to surface waves and corrugated sea-floor interactions with and without a mean current

In this paper, we show that Stokes drift may be significantly affected when an incident intermediate or shallow water surface wave travels over a corrugated sea-floor. The underlying mechanism is Bragg resonance -- reflected waves generated via nonlinear resonant interactions between an incident wave and a rippled bottom. We theoretically explain the fundamental effect of two counter-propagating Stokes waves on Stokes drift and then perform numerical simulations of Bragg resonance using High-order Spectral method. A monochromatic incident wave on interaction with a patch of bottom ripple yields a complex interference between the incident and reflected waves. When the velocity induced by the reflected waves exceeds that of the incident, particle trajectories reverse, leading to a backward drift. Lagrangian and Lagrangian-mean trajectories reveal that surface particles near the up-wave side of the patch are either trapped or reflected, implying that the rippled patch acts as a non-surface-invasive particle trap or reflector. On increasing the length and amplitude of the rippled patch; reflection, and thus the effectiveness of the patch, increases. The inclusion of realistic constant current shows noticeable differences between Lagrangian-mean trajectories with and without the rippled patch. Theoretical analysis reveals additional terms in the Stokes drift arising from the particular solution due to mean-current--bottom-ripple interactions, irrespective of whether Bragg resonance condition is met. Our analyses may be useful for designing artificial, corrugated sea-floor patches for mitigating microplastics and other forms of ocean pollution. We also expect that sea-floor corrugations, especially in the nearshore region, may significantly affect oceanic tracer transport.

physics.flu-dyn

Wave interactions in neutrally stable shear layers: regular and singular modes, and non-modal growth

In a recent letter, Carpenter and Guha (2019) compared the neutral modes of a smooth two dimensional shear profile without an inflection point to the modes of its corresponding piecewise-linear profile. The regular mode in the smooth profile was identified as the one least sensitive to the numerical resolution, while the singular modes displayed high sensitivity. Here we provide a physical interpretation using a wave interaction approach for understanding the structure and behavior of both the regular and singular modes. The regular modes are the interfacial Rossby waves located at the concentrated mean vorticity gradient of the shear profile. In contrast, the singular modes result from a one way phase-locking interaction between singular vorticity disturbances, passively advected by the mean flow at different levels of the profile, and the interfacial Rossby waves. We show that this one way interaction can also lead to a sustained non-modal growth of the interfacial Rossby waves that cannot be captured by standard eigenvalue analysis.

physics.flu-dyn

Energy transfer in resonant and near-resonant internal wave triads for weakly non-uniform stratifications. Part I: Unbounded domain

In this paper, using multiple scale analysis we derive a generalized mathematical model for amplitude evolution, and for calculating the energy exchange in resonant and near-resonant global triads consisting of weakly nonlinear internal gravity wave packets in weakly non-uniform density stratifications in an unbounded domain in the presence of viscous and rotational effects. Such triad interactions are one of the mechanisms by which high wavenumber internal waves lead to ocean turbulence and mixing via parametric subharmonic instability. Non-uniform stratification introduces detuning - mismatch in the vertical wavenumber triad condition, which may strongly affect the energy transfer process. We investigate in detail how factors like wave-packets' width, group speeds, nonlinear coupling coefficients, detuning, and viscosity affect energy transfer in weakly varying stratification. We find limitations of the well-known 'pump-wave approximation' and derive a non-dimensional number, which can be evaluated from initial conditions, that can predict the maximum energy transferred from the primary wave during the later stages. Two additional non-dimensional numbers, based on various factors affecting energy transfer between near-resonant wave-packets have also been defined. Moreover, we identify the optimal background stratification in a medium of varying stratification for the primary wave to form a triad with no detuning so that the energy transfer is maximum. Finally, we show that even a small change in the background stratification can cause a significant difference in the energy transfer process between the wave-packets when they have the same order of magnitude of energy.

physics.flu-dyn

The motion of buoyant point vortices

A general formulation is presented for studying the motion of buoyant vortices in a homogeneous ambient fluid. It extends the well-known Hamiltonian framework for interacting homogeneous point vortices to include buoyancy effects acting on the vortices. This is then used to systematically examine the buoyant 1-, 2-, and 3-vortex problems. In doing so we find that 2 buoyant vortices may either evolve as a pair in bounded circular orbits, or as two independent unbounded vortices that drift apart, and a criteria is found to distinguish these cases. Special attention is given to the buoyant vortex couple, consisting of two vortices of equal and opposite circulation, and equal buoyancy anomaly. We show that a theoretical maximum height is generally possible for the rise (or fall) of such couples against buoyancy forces. Finally, the possibility and onset of chaotic motions in the buoyant 3-vortex problem is addressed. In contrast to the homogeneous 3-vortex problem, the buoyant vortex system shows evidence that chaos is present. We also demonstrate the chaotic advection of tracer parcels arising from the flow field induced by just 2 buoyant vortices.

physics.flu-dyn

On the opposing roles of the Boussinesq and non-Boussinesq baroclinic torques in surface gravity wave propagation

Here we suggest an alternative understanding of the surface gravity wave propagation mechanism based on the baroclinic torque, which operates to translate the interfacial vorticity anomalies at the air-water interface. We demonstrate how the non-Boussinesq term of the baroclinic torque acts against the Boussinesq one to hinder wave propagation. By standard vorticity inversion and mirror imaging, we then show how the existence of the bottom boundary affects the two types of torque. Since the opposing non-Boussinesq torque results solely from the mirror image, it vanishes in the deep water limit and its magnitude is half of the Boussinesq torque in the shallow water limit. This reveals that Boussinesq approximation is valid in the deep water limit, even though the density contrast between air and water is large. The mechanistic roles, played by the Boussinesq and non-Boussinesq parts of the baroclinic torque, remain obscured in the standard derivation where the time-dependent Bernoulli equation is implemented instead of the interfacial vorticity equation. Finally, we note on passing that the Virial theorem for surface gravity waves can be obtained solely from considerations of the dynamics at the air-water interface.

physics.flu-dyn

Similarities between the structure functions of thermal convection and hydrodynamic turbulence

In this paper, we analyze the scaling of velocity structure functions of turbulent thermal convection. Using high-resolution numerical simulations, we show that the structure functions scale similar to those of hydrodynamic turbulence, with the scaling exponents in agreement with She and Leveque's predictions [Phys. Rev. Lett. 72, 336-339 (1994)]. The probability distribution functions of velocity increments are non-Gaussian with wide tails in the dissipative scales and become close to Gaussian in the inertial range. The tails of the probability distribution follow a stretched exponential. We also show that in thermal convection, the energy flux in the inertial range is less than the viscous dissipation rate. This is unlike in hydrodynamic turbulence where the energy flux and the dissipation rate are equal.

physics.flu-dyn

Predicting vortex merging and ensuing turbulence characteristics in shear layers from initial conditions

Unstable shear layers in environmental and industrial flows roll up into a series of vortices, which often form complex nonlinear merging patterns like pairs and triplets. These patterns crucially determine the subsequent turbulence, mixing and scalar transport. We show that the late-time, highly nonlinear merging patterns are predictable from the linearized initial state. The initial asymmetry between consecutive wavelengths of the vertical velocity field provides an effective measure of the strength and pattern of vortex merging. The predictions of this measure are substantiated using direct numerical simulations. We also show that this measure has significant implications in determining the route to turbulence and the ensuing turbulence characteristics.

physics.flu-dyn