42nd AIAA Aerospace Sciences Meeting and Exhibit AIAA 2004-889

5 - 8 January 2004, Reno, Nevada

AIAA –2004–0889
Improvements in Low Dimensional
Tools for Flow-Structure Interaction
Problems: Using Global POD
Ryan F. Schmit
Clarkson University, Potsdam, NY 13699
Mark N. Glauser
Syracuse University, Syracuse, NY 13244

42nd AIAA Aerospace Sciences

Meeting and Exhibit
January 5–8, 2004/Reno, NV
For permission to copy or republish, contact the American Institute of Aeronautics and Astronautics
1801 Alexander Bell Drive, Suite 500, Reston, VA 20191–4344
Copyright © 2004 by Dr. Ryan F. Schmit. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission.
 Improvements in Low Dimensional
Tools for Flow-Structure Interaction
Problems: Using Global POD
Ryan F. Schmit∗
Clarkson University, Potsdam, NY 13699
Mark N. Glauser†
Syracuse University, Syracuse, NY 13244
In this paper improvements in the low dimensional tool for flow-structure interac-
tion problems based on Proper Orgthgonal Decomposition (POD) and modified Linear
Stoachastic Estimation (mLSE) are shown and were applied to a Micro Air Vehicle (MAV)
wing. The method utilizes the dynamic strain measurements from the wing to estimate
the POD expansion coefficients from which an estimation of the velocity in the wake can
be obtained. For this experiment the MAV wing was set at five different angles of at-
tack, from 0◦ to 20◦ . The tunnel velocities varied from 44 to 58f t/sec with corresponding
Reynolds numbers of 46, 000 to 70, 000. A stereo Particle Image Velocimetry (PIV) system
was used to measure the wake of the MAV wing simultaneously with the signals from the
twelve dynamic strain gauges mounted on the wing. With 20 out of 2400 Global Proper
Orthogonal Decomposition modes, a reasonable estimation of the flow field was observed.
Utilizing the simultaneously sampled strain gauges and flow field measurements in con-
junction with modified Linear Stochastic Estimation, an estimation of the flow field with
lower energy modes is reasonable. With these results, the methodology for estimating
the wake flow field from just dynamic strain gauges is validated.

Nomenclature k Strain gauge

an POD expansion coefficients l PIV sample
aest
n Estimated POD expansion coefficients n Number of POD modes
Ank LSE coefficient m Total number of POD modes
c Chord length q Total number of strain gauges
εq Strain measurement
λ(n) POD eigenvalues
M Total number of samples used in ensemble Introduction
N Number of POD modes for low- The Micro Air Vehicle (MAV) program was started
Dimensional description from a Defense Advanced Research Projects Agency
φ POD eigenvector (DARPA) initiative. DARPA wanted an aircraft with
Rij Two-point correlation tensor a wingspan of no more than six inches to be developed.
t Time Government, industry and academic institutions have
TCE Convective eddy time worked on the problem and each has their own purpose
U∞ Free-stream velocity for development. MAVs, in a military role, can be used
Ui Velocity components to show foot soldiers what is over the next hill. For
Uiest Estimated velocity components surveillance purposes, the MAV can be used to observe
Uc Convective velocity without being seen. For a scientific application, the
x Mid chord distance from wing to MAV can be used for the cost-effective remote sensing
measuring plane of atmospheric conditions.1
x0 Stream-wise measurement location One problem with all MAVs is the low Reynolds
y, z Axial coordinate number flow that they experience while in flight. Since
most MAVs fly in atmospheric conditions, wind gusts
Subscripts and turbulence can affect the flight and controllability
of these vehicles. By understanding how the MAVs
i, j Vectorial index components
will react to gust and turbulence, control systems can
∗ Currently Address - Air Force Research Laboratory, Wright-
be developed to reduce the effects of the external load-
Patterson AFB, OH 45433, AIAA Member. ings. Developing a control system for the motion of the
† AIAA Associate Fellow.

Copyright c 2004 by. Published by the American Institute of

MAVs wing and its wake flow field requires them to be
Aeronautics and Astronautics, Inc. with permission.ff simultaneously sampled because the problems are cou-
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American Institute of Aeronautics and Astronautics Paper –2004–0889

pled. With a feedback control system, the enhanced
MAV wing might have improved flight characteristics,
such as increased maneuverability or stability. In the
work presented here the focus is on the sensing as-
pect of the control problem. We use surface strain
measurements to estimate the Global POD expansion
coefficients in the wake, which are then used to esti-
mate the velocity wake flow field when combined with
the Global POD eigenfunctions.
Background
In 1967, Lumley2 proposed the Proper Orthogo-
nal Decomposition, POD, as an unbiased technique
for studying coherent structures in turbulent flows.
The POD is a mathematical approach based on the
Karhunen-Loeve expansion to decompose the fluctu-
ating velocity field into a finite number of empirical
functions. The POD technique is a tool to identify
the most energetic coherent structures, or eddies, con-
tained within a turbulent flow field.
In 1977 Adrian3 proposed that stochastic estima-
tion could be applied to unconditional data. This
method used what Adrian called a “conditional eddy”
to form a technique for estimating the flow field given
the presence of this defined “conditional eddy”. Cole
et al.4 then proposed that the instantaneous velocity
field could be used, instead of defining an arbitrary
indicator such as Adrian’s “conditional eddy”.
In 1994, Bonnet et al.5 presented the Complemen-
tary Technique which combines the LSE and the POD
into a tool for the development of time varying low
dimensional descriptions of the flow.
In 1998, Bonnet et al.6 provided a comparison of a
few tools for the decomposition and analysis of turbu-
lent flows that placed an emphasis on the detection of
large-scale coherent structures. Some techniques that
were covered are Proper Orthogonal Decomposition,
Linear Stochastic Estimation (LSE) and Conditional
Sampling Approaches.
In 2002, Taylor and Glauser7,8 proposed the use
of Global POD to reconstruct the instantaneous flow
field from the instantaneous wall pressure measure-
ments in a flow over a backward facing ramp with
a cyclic flap over the ramp, which allows for a dy-
namically changing adverse pressure gradient. In 2002,
Schmit9,10 extended the work of Taylor to reconstruct
the instantaneous velocity wake flow field from the
instantaneous motion of the MAV wing. For this ex-
periment, twelve judiciously placed strain gauges and
a stereo PIV system were used to measure simultane-
ously the instantaneous strain and three components
of velocity in the wake of the MAV.
With current emphasis on flow control, the POD
technique has become the basis for closed loop con-
trollers. There are two primary branches of research
that control is being applied to and they are low and
high Reynolds numbers flow. For most low Reynolds
2 of 8
American Institute of Aeronautics and Astronautics Paper –2004–0889
number flows are trying to control wake shedding in
laminar flow, Caraballo et al.11 Kelly et al.12, ,13 and
Siegel et al.14 Gerhard et al.15 While high Reynolds
number flow are trying to be control for cavities, and
wakes, Saminy et al.16 Carlson and Miller17 .
MAV Wing
For this experiment Figure 1 shows the wing’s di-
mensions, where the span and chord lengths are 5.75
and 3 inches, respectively. The frame of the MAV is
made of aluminum, which has a 0◦ camber and con-
sists of one spar and four ribs. The mounting block
holds an inch of the MAV frame and attaches to the
tunnel floor, thus rotation of the mounting block ad-
justs the wing’s angle of attack from −20◦ to 20◦ . To
reduce the influence of the tunnel boundary layer, the
wing was mounted a 1/2 inch above the tunnel floor.
Fig. 1 Dimensions of MAV Wing
The skin of the wing is a rectangular latex mem-
brane, 3 by 5.25 inches, which forms three membrane
regions, 2.625 by 1.25 inches, between each pair of ribs.
Using Super 77T M , a spray adhesive from 3M T M , ad-
heres the latex membrane to the frame.
Experiment
The authors performed the experiment at NASA
Langley in the 15-Inch Low Speed Wind Tunnel, a
low-speed, closed return, atmospheric facility used pri-
marily for fundamental flow physics research. The
maximum flow speed in the test section is approxi-
mately 115f t/sec.
The authors employed IDT’s Stereo Particle Image
Velocimetry, PIV, system to capture the wake flow
field of the MAV wing, the experimental setup is seen
in Figures 2 and 3. The system used had a 400mJ
YAG Laser to illuminate seed particles in the flow
field, while two 2k x 2k digital cameras capture the
illuminated seed particles. The seed particulate was
atomized mineral oil, which has the diameter of 0.1 to
5.0 µm’s and can follow the flow up to the frequency Placement of Strain Gauges for MAV wing Drawing 01
Ryan Schmit x49785

of 1kHz. 12/11/01 1.5

1
2
1.5

3
4
Klinger Rail with 45 Deg. Mirror 1.5
7
8
6
5
Back Scatter PIV Camera 9
y,V 10

1.0 11
12
x,U

Tunnel Section
Fig. 4 Placement of strain gauges on the frame
Forward Scatter PIV Camera

The experiment is to sample the instantaneous wake

Laser Vibrometer Num. 1 flow field of the MAV wing with the PIV system, while
A. Laser Vibrometer Num. 2 simultaneously sampling the instantaneous strain mea-
surements from the MAV wing. Because the PIV
Fig. 2 Wind Tunnel Setup, Top view and Zonic data acquistion systems are independent,
the authors developed a methodology using the Q-
switch from the first PIV laser to trigger the start of
Laser Plane 1
the DAQ system shown in Figure 5. The Q-switch
is a Transistor-Transistor Logic (TTL) pulse, +5 volt
Laser Plane 2 10Hz square wave, and is sent from the PIV control
unit to the lasers. A TTL pulse from a signal gener-
ator is held using an external trigger until setup for
run is complete. Sending the TTL to the PIV con-
trol unit sends another TTL to each laser with a set
time delay. The first TTL pulse from PIV control unit
PIV Camera Windows triggers the Zonic DAQ system when a negative slope
and 50% change in the full-scale voltage occurs. By
z,W recording the Q-switch signal a history of simultane-
y,V
ously sampled strain gauge measurements is known for
x,U
each PIV image.
Signal Generator

External Trigger Zonic DAQ

Mounting Block
B.

Fig. 3 Wind Tunnel Setup, Three Dimensional

Close Up PIV Computer Controller PIV Laser
Strain Gauge Wires

I-Deas, a finite element modeling program, modeled

the wing to determine the placement of strain gauges
Camera 1 Camera 2
using the Normal Mode Dynamic Solver routine. The
finite element model determined six locations of high
strain and a bi-axial strain gauge was placed at each Q-switch 1

locations. Figure 4 shows the locations of all twelve Q-Switch 2

strain gauges, they are numbered for identification.

Fig. 5 Wire diagram of simultaneous sampling
The strain gauges used for this experiment have setup
a gauge length and width of 3mm’s and 2mm’s, a
matrix length and width of 7mm’s and 4mm’s, a
Gauge Factor of 2.120 ± 0.5% at 24◦ C, a resistance For the experiment the MAV wing’s angle of at-
of 350.0 ± 0.3% ohms at 24◦ C, and a Transverse sen- tack was changed from 0◦ to 20◦ at 5◦ intervals. The
sitivity of (+0.7 ± 0.2)% at 24◦ C. The strain gauges tunnel’s air speed was changed from 44f t/s to 58f t/s
have a three-wire tab, so that temperature compen- which gives a Reynolds number of 40, 000 and 70, 000
sation is taken into account. The strain gauges were respectively. The PIV images were captured at c/2
adhered to the frame with an adhesive; likewise the and 2c/3, 1.5 and 2.0 inches, respectively downstream
wires were lightly adhered to the frame so they would of the wing. With five different angles of attack, two
not vibrate in the flow. tunnel airspeeds, and two PIV image planes, a total of
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American Institute of Aeronautics and Astronautics Paper –2004–0889

20 runs are required for this experiment.
q
X
aest
n (x0 , t) = Ank εk (t) (6)
Analysis
k=1
The analysis for Complementary Technique using
Global POD and modified LSE can be summarized m
(n)
X
as: Uiest (x0 , y, z, t) = aest
n (xo , t)φi (x0 , y, z) (7)
1. From the 2D-3 Component velocity measure- n=1
ments, determine the two-point correlation tensor,
Equation 1, at each PIV stream-wise location, x0 ,
Results
measured in the wake for all angles of attack and The stereo PIV system used for this experiment
Reynolds numbers. measured the instantaneous wake flow field in a two-
dimensional plane with three components of velocity.
! Figure 6 shows an instantaneous snapshot of the flow
M
0 0
X Ui (x0 , y, z), Uj (x0 , y 0 , z 0 ) at 44f ps, downstream at c/2 and an angle of attack
Rij (x0 , y, y , z, z ) = of 20◦ . The reader is looking downstream, in the x di-
M
k=1 k rection, from the MAV wing to the yz plane. Figure 6
(1)
contains four separate sets of data, which can be seen
With Equation 1 and following the Hilbert-Schmidt
in Table 1.
theory (Lumley), random fluctuations over a finite do-
main obtains a discrete set of solutions, Equation 2.
Z
(n)
Rij (x0 , y, y 0 , z, z 0 )φj (x0 , y 0 , z 0 )dy 0 dz 0 =
D

(n)
λ(n) (x0 )φi (x0 , y 0 , z 0 ) (2)
Equation 2 is solved numerically for the eigenfunc-
(n)
tions of the two-point correlation. The φi are used
to reconstruct the original fluctuation quantities with
Equations 3.

m
(n)
X
Ui (x0 , y, z, t) = an (x0 , t)φi (x0 , y, z) (3)
n=1

Equation 4 determines the Global POD expansion Fig. 6 Instantaneous Snapshot of the Wake Flow
(n)∗ Field
coefficients, an (x0 , t) of the flow, where the φi de-
(n)
notes the complex conjugate of φi .
Table 1 Results Setup for Instantaneous Snapshot
Z of the Wake Flow Field
(n)∗
an (x0 , t) = Ui (x0 , y, z, t)φi (x0 , y, z)dy, dz (4) Upper Left U Component
D
Upper Right V Component
2 Using the simultaneously sampled strain gauge Lower Left W Component
measurements and the Global POD expansion coef- Lower Right V and W Components
ficients, the LSE coefficient, Anq , can be determined
for each streamwise location by:
In the works by Schmit9,10 the analysis technique
used solved the POD and mLSE equations for one

ε21 ε1 ε2 · · · ε1 εq

An1
 
an ε1
 data set at a time and the results will be used for
 ε2 ε1 ε22 · · · ε2 εq   An2   an ε2  comparison in this paper. From Schmit Figure 7

.. .. .. .. 

 . =
 
..
 shows the reconstruction of the velocity components
.   ..
 
 . . .   .  using the POD expansion coefficients from Equation 3
εq ε 1 εq ε 2 · · · ε2q Anq an εq and compares remarkably well with the instantaneous
(5) snapshot, Figure 6, with only the first 20 POD modes
3 Finally, estimate the Global POD expansion coef- used. Also, from Schmit Figure 8 shows the estima-
ficients from the temporal strain gauge measurements, tion of the velocity field using mLSE, Equations 6 and
shown in Equation 6, and combine them with the 7, and shows the low dimensional description of the
eigenvectors, to produce the instantaneous estimations flow field, which is well resolved with 20 POD modes
of flow field as expressed in Equation 7. compared to the original snapshot, Figure 6.
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American Institute of Aeronautics and Astronautics Paper –2004–0889

Fig. 7 Rebuild of Instantaneous Snapshot with Fig. 9 Summation of Energy per POD mode with
20 POD Modes at α = 15◦ AOA, airspeed = 44f ps, mean included.
plane = c/2

Fig. 10 Summation of Energy per POD mode

Fig. 8 Estimation of the Wake Flow Field with 20 without mean included
Modes at α = 15◦ , airspeed = 44f ps, plane = c/2

about 22% of the total energy of the flow compared

Eigenvalues and Eigenvectors
After forming the two-point correlation tensor,
Equation 2 solves the eigenfunctions of the tensor. One
method used to understand the eigenvalues and their
importance is to examine the energy contained up to
N POD modes as depicted in Equation 8. Note that
in Equation 8, N will eventually go to m the total
number of POD modes.
N
X 100% of the energy available in the flow compared with
λ(n) (8)
n=1
We solved the eigenvalue problem with and with-
out the mean velocity flow field. Figure 9 shows the
summation of energy for each set of conditions with
the mean included. Figure 10 shows the summation
of energy for each set of conditions without the mean
included.
As seen in Figure 9 the mean Global POD mode has
5 of 8
with 95 to 97% with each individual set, this is out of
2400 POD modes9,10 . From Figure 10 the summation
of the turbulent modes shows that the 1st Global POD
mode has about 1% of the total energy compared with
20% with each individual set, and this is out of 2400
POD modes. In both of these cases as N increase in
Equation 8 the total energy available in that mode
is less than the one before. It takes approximately
500 Global POD modes in both cases to obtain nearly
400 POD modes with individual sets9,10 . However
with only 20 POD mode, we obtain more than 50% of
the total energy when we include the mean as seen in
Figure 9 and more than 45% of the total energy when
we examine the fluctuations only as shown in Figure
10. With individual sets the total energy is more than
99% with the mean and 70% without out the mean9,10
. Still these results give a good indication that this flow
still has a low-dimensional description for the Global

American Institute of Aeronautics and Astronautics Paper –2004–0889

POD. cient for both planes as well as individual data sets.
Figures 11 and 12 are the first POD and Global POD
(n)
eigenvectors, φi , with the mean included. Because
st
the 1 POD mode contains up to 95% of the total
energy it should be no surprise that it resembles the
mean velocity profile. But when comparing it to the
Global POD this mode doesn’t resemble any of the
mean mode and that is because it’s an average of all
the means used in the Global POD set.
Eigenvectors in X direction Eigenvectors in Y direction x 10
-3

150 -0.01 150 4

140 140
-0.011
130 130 2
120 -0.012 120
z mm

z mm

0
110 -0.013 110
100 100
-0.014 -2
90 90
80 -0.015 80 -4

40 20 0 40 20 0
y mm y mm

Eigenvectors in Z direction x 10
-3 Plot of Eigenvectors in Y and Z direction
6
150 150
Fig. 13 Rebuild of Instantaneous Snapshot with
140 4 140 20 Global POD Modes at α = 15◦ AOA, airspeed
130 130
120
2
120
= 44f ps, plane = c/2
z mm

z mm

110 0 110
100 100
-2
90 90
80 -4 80
Results of Estimation Procedure
40 20 0 50 40 30 20 10 0
y mm y mm
Figure 14 presents an estimation of the wake flow
Fig. 11 Eigenvector Mode 1 at 44f ps, 15◦ AOA, field using the procedure described by Equations 5, 6,
c/2 and 7 with 20 Global POD modes. From the results
presented in Figure 14, the estimate of the wake flow
field shows that the technique captures much of the
low dimensional features of the flow, when compared
to the instantaneous snapshot, Figure 6. But the es-
timation using the Global POD modes shows similar
results when comparing to the estimation of the wake
flow field using just the POD modes for each data set
shown in Figure 8.

Fig. 12 Global Eigenvector Mode 1 at c/2

Reconstruction of a Selected Sample

With the POD expansion coefficients solved for in
Equation 4, Equation 3 can reconstruct the flow field.
By rebuilding the flow field in this manner a mini- Fig. 14 Estimation of the Wake Flow Field with
mum number of POD modes can be determined to 20 Global POD Modes at α = 15◦ airspeed = 44f ps,
adequately represent the velocity flow field for a spe- plane = c/2
cific snapshot. The original snapshot of the wake flow
field, Figure 6, is used for direct comparison. Figure
13 shows an excellent reconstruction of the instanta- Estimation of Multiple Planes
neous snapshot, when using 20 out of 2400 Global The experiment measured two separate planes, c/2
POD modes. Twenty Global POD modes are suffi- and 2c/3 at two different tunnel conditions 44 and
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American Institute of Aeronautics and Astronautics Paper –2004–0889

58f ps and to properly phase align the two planes the
convective eddy time needs to be know and is deter-
mined with Equation 9.
x
TCE = , (9)
Uc
where x is the distance from the middle of the MAV
wing to the plane and Uc is the convective velocity that
the eddies move at.18 The convective eddy times are
estimated for each plane and speed in Table 2, where
Uc = 0.7U∞ .
Table 2 Convective Eddy Time for Measured Con-
ditions
U∞ Plane c/2 Plane 2c/3
44 fps 0.0081 sec 0.0095 sec
58 fps 0.0062 sec 0.0072 sec
With the convective eddy time known the instanta-
neous estimation of both planes can be done by using
the same strain gauge time signal to estimate both
planes and is shown in Figure 15. With the estimation
we’re able to understand the motion the low dimen-
sional description of the wake flow field as it traverses
downstream in time. This method can be expanded to
include more planes of data until a volume of velocity
data is estimated.
Fig. 15 Instantaneous Estimation of Both Plane
at α = 15◦ and airspeed = 44f ps
Off Set Conditions
With the current methodologies of acquiring flow
field data, experimentally and computationally, we are
left with holes or missing information between each
state that is examined unless every possible condition
can be measured. This becomes expressive and time
consuming, unless any easier method can be developed
to fill in the missing information.
Now, consider what Global POD is comprised of,
flow field data that has missing gaps - especially with
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American Institute of Aeronautics and Astronautics Paper –2004–0889
Fig. 16 Estimation of the Wake Flow Field with 20
Global POD Modes without any information about
α = 15◦ airspeed = 44f ps, plane c/2, at those condi-
tions.
PIV data. By using mLSE with a correlated time sig-
nal, an estimation of the missing information between
the collected data can be performed, which was men-
tioned above in “Estimation of the Multiple Planes”
Now, the question becomes, can Global POD and
mLSE estimate missing information that has never
been measured, i.e. at different angles of attack or
at different Reynolds numbers. Given certain condi-
tions – the flow doesn’t dramatically change between
the measured states – the estimation of the flow field
with missing information can be accomplished, as seen
in Figure 16. To understand how this figure is created
the following steps were used.
1 The Global POD is setup using Equations 1
through 4 with known data at angles of attack of 10◦
and 20◦ , at an airspeed of 44f ps and at the c/2 plane.
2 Equation 5 is used to determine the mLSE co-
efficients at specified conditions using simultaneously
sampled strain gauge signals.
3 Equations 6 and 7 are used to estimate the velocity
at an angle of attack of 15◦ with a strain gauge signal
at that angle of attack.
Figure 16 shows that this estimation of the wake flow
field is able to capture the low dimensional features
of the flow field when compared to the instantaneous
snapshot, Figure 6. This give a good suggestion that
this type of estimation is doable considering all other
aspects of this paper show that the current results can
only capture the low dimensional features of the wake
flow field.
Conclusions
Improvement in low dimensional tool for flow-
structure interaction problems based on Global Proper
Orthogonal Decomposition (POD) and modified Lin-
ear Stochastic Estimation (mLSE) was shown and ap-
plied to a Micro Air Vehicle (MAV) wing. The method
utilized the dynamic strain measurements from the
wing to estimate the Global POD expansion coeffi-
cients from, which an estimation of the velocity in the
wake can be obtained.
As shown in previous work, the wing tip vortex dom-
inates the flow, when low dimensional tool are applied
to the statistical database. From the Global POD
eigenfunctions, the 1st mode contains 22% or more of
the energy in the wake flow field. This captures nicely
Air Vehicles,” 41th AIAA Aerospace Sciences Meeting & Exhibit
- AIAA 2003-0626 , 2002, pp. 1–9.
11 Caraballo, E. and Samimy, M., “Low Dimensional Mod-
eling of Flow for Closed-Loop Flow Control,” 41th AIAA
Aerospace Sciences Meeting & Exhibit - AIAA 2003-0059 , 2003,
pp. 1–15.
12 Cohen, K., Siegel, S., McLaughlin, T., and Myatt, J.,
“Proper Orthogonal Decomposition Modeling of a Controlled
Ginzburg-Landau Cylinder Wake Model,” 41th AIAA Aerospace
Sciences Meeting & Exhibit - AIAA 2003-1292 , 2003, pp. 1–9.
13 Cohen, K., Siegel, S., and McLaughlin, T., “Sensor Place-

the wing tip vortex, which is spread out over the wind.
With 20 out of 2400 POD modes, a reasonable recon-
struction of the instantaneous snapshot of the wake
flow field can be obtained.
Utilizing the simultaneously sampled strain gauges
and the wake flow field measurements in conjunction
with mLSE, and estimation of the wake flow field with
the lower Global POD modes, provides a reasonable
estimation of the wake flow field.
From the results shown, using a low dimensional tool
for flow-structure interaction provides a valid method-
ology for estimation the wake flow field from thy dy-
namic strain gauges alone. This provides a starting
point for developing control strategies for all types of
flow-structure interaction problems.
References
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