Abstract In continuous casting of steel, the strand is cooled in upper part secondary cooling zone with water sprayed by nozzles towards surface. The accumulates nip lower roll a pair, forming pool which then drains off ends roll. present work, open channel hydraulics was applied for computation height between and slab casting. differential equation describing change spatially varied flow incre...

The dynamic model of redundantly actuated mobile robots with powered caster wheels is derived based on vehicle dynamics. The contact stability problem of wheeled mobile robots is introduced and stable contact condition that characterizes the bounds of contact stability is derived. Sliding mode observer is proposed to estimate the robot velocity using wheel angular velocity and joint torque info...

Kingpin axis geometry is crucial to the design of a suspension system. Suspension construction is truly three-dimensional, and the screw axis theory allows for a more accurate kinematic analysis. This study aims to present a dual quaternion analysis (DQA) method for calculating the kingpin axis geometry. The corresponding parameters include the caster angle, SAI angle, toe angle, caster trail a...

Designing robots for urban search and rescue (USAR) is an extremely challenging task, because it violates many of the assumptions made in the average robotics lab. Robocup Rescue [Jacoff et al., 2004] is an international competition that provides an opportunity to measure performance in such environments objectively. The competition allows for the evaluation of new and evolving sensing, hardwar...

Single-phase turbulent flow in a 0.4-scale water model of a continuous steel caster is investigated using large eddy simulations (LES) and particle image velocimetry (PIV). The computational domain includes the entire submerged entry nozzle (SEN) starting from the tundish exit and the complete mold region. The results show a large, elongated recirculation zone in the SEN below the slide gate. T...

In the current study, transient flow characteristics on top surface of a steel slab continuous casting strand were numerically investigated using large eddy simulation combined with volume fluid (LES + VOF) model. The validation numerical was verified via nail board measurement in industrial mold. effects speed level profile and instantaneous distribution vortex discussed. variation migrated af...

mold powders are fluxing agents used as raw materials in the steel industry, which play very important role inprocessing stability and final surface quality of a product. surface quality depends particularly on the viscosity and the heat transfer of infiltrated mold flux between the mold wall and the solidified steel shell. heat flux across the interfacial gap depends on thermal properties of s...