Cavitation of hydraulic machinery

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Cavitation of Hydraulic Machinery

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HYDRAULIC MACHINERY BOOK SERIES - Hydraulic Design of Hydraulic Machinery Editor: Prof H Radha Krishna - Mechanical Design and Manufacturing of Hydraulic Machinery Editor: Prof Mei Z Y - Transient Phenomena of Hydraulic Machinery Editors: Prof S Pejovic, Dr A P Boldy - Cavitation of Hydraulic Machinery Editor: Prof Li S C - Erosion and Corrosion of Hydraulic Machinery Editors: Prof Duan C G, Prof V Karelin - Vibration and Oscillation of Hydraulic Machinery Editor: Prof H Ohashi - Control of Hydraulic Machinery Editor: Prof H Brekke The International Editorial Committee (lECBSHM): Chairman: Prof Duan C G Treasurer: Dr R K Turton Committee Members: Prof H Brekke (Norway) Prof E Egusquiza (Spain) Dr H R Graze (Australia) Prof P Henry (Switzerland) Prof V Karelin (USS) Prof Li Sheng-cai (China) Prof M Tadeu de Almeida (Brazil) Prof M Matsumura (Japan) Prof A Mobarak (Egypt) Prof H Netsch (Canada) Prof S Pejovic (Yugoslavia) Prof H Petermann (Germany) Prof C S Song (USA) Prof Hans Ingo Weber (Brazil) Honorary Members: Prof B Chaiz (Switzerland)

Secretary: Prof Li S C Dr A P Boldy Prof V P Chebaevski (USS) Prof M Fanelli (Italy) Prof R Guarga (Uruguay) Dr H B Horlacher (Germany) Prof G Krivchenko (USS) Prof Liu D K (China) Prof C S Martin (USA) Prof Mei Zu-yan (China) Prof H Murai (Japan) Prof H Ohashi (Japan) Prof D Perez-Franco (Cuba) Prof H C Radha Krishna (India) Prof C Thirriot (France) Prof G Ziegler (Austria) Prof J Raabe (Germany)

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Committee Chairman: C. G. Duan

-fl^

Series Editor: S. C. Li

Cavitation of Hydraulic Machinery

Editor

S. C. Li University of Warwick, U.K.

Imperial College Press

Published by Imperial College Press 57 Shelton Street Covent Garden London WC2H 9HE Distributed by

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World Scientific Publishing Co. Pte. Ltd. P O Box 128, Farrer Road, Singapore 912805 USA office: Suite IB, 1060 Main Street, River Edge, NJ 07661 UK office: 57 Shelton Street, Covent Garden, London WC2H 9HE

British Library Cataloguing-ln-Publlcation Data A catalogue record for this book is available from the British Library.

CAVITATION OF HYDRAULIC MACHINERY Copyright © 2000 by Imperial College Press All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permission from the Publisher.

For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy is not required from the publisher.

ISBN

1-86094-257-1

Printed in Singapore by Uto-Print

CONTENTS Preface

xiii

Foreword of the Editor

xv

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Contributing Authors

xix

1 Introduction SCLi 1.1 Cavitation 1.1.1 Discovery 1.1.2 Classification 1.2 Hydraulic Machinery and Cavitation 1.2.1 Problems Caused by Cavitation 1.2.2 Combating Cavitation References

1 1 1 1 3 3 5 8

2 Cavitation and Cavitation Types A J Acosta 2.1 Cavitation Phenomenon 2.1.1 Cavitation 2.1.2 Hydrodynamic Cavitation 2.2 Types of Cavitation 2.2.1 Cavitation Index 2.2.2 Scale Effects and Cavitation Types 2.3 Cavitation Effects 2.3.1 General Phenomena 2.3.2 Influences on Machine Performance 2.3.3 System Stability 2.4 Cavitation Nucleation and Inception 2.4.1 Inception 2.4.2 Nuclei Measurement 2.4.3 Concluding Remarks References

9 9 10 11 11 12 24 24 25 28 30 30 34 38 40

3 Bubble Dynamics

47

Part 1: Single Bubble A Shima 3.1 Rayleigh Analysis 3.1.1 Besant's Problem

9

47 47 47 V

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Contents

3.1.2 Rayleigh's Solution 3.2 Vaporous and Gaseous Bubbles 3.2.1 Classification 3.2.2 Stability 3.3 Viscosity and Compressibility Effects 3.3.1 Effects of Viscosity and Surface Tension 3.3.2 Compressibility Effect 3.4 Bubble Rebound 3.4.1 Introduction 3.4.2 Studies of Rebound 3.5 Nonspherical Collapse and Micro-jet Formation 3.5.1 Collapse near Solid Wall 3.5.2 Collapse in Contact with Solid Wall 3.6 Pressures Generated at Collapse 3.6.1 Impact Pressure and Their Modes 3.6.2 Temperature Effect References

48 49 49 49 50 50 50 53 53 53 54 54 55 57 57 60 61

Part 2: Multi-Bubbles (Stochastic Behaviour) SCLi 3.7 Origins of Bubble Stochasticity 3.7.1 Introduction 3.7.2 Bubble-Boundary Interaction 3.7.3 Bubble-Bubble Interaction 3.7.4 Bubble-Flow Field Interaction 3.7.5 Remarks 3.8 Stochastic Models of Cavitation Bubbles 3.8.1 Introduction 3.8.2 Single-Event Model 3.8.3 Multi-Event (Cluster) Model 3.8.4 Comprehensive Model 3.9 Power Spectrum 3.9.1 Introduction 3.9.2 Spectrum of Single-Bubble Collapse 3.9.3 Spectrum for Sequence of Single Events 3.9.4 Spectrum for Sequence of Clusters 3.9.5 Spectrum for Comprehensive Sequence References

65 65 65 67 73 94 115 117 117 117 118 120 121 121 121 127 137 148 153 157

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Contents

4 Cavitating Flow 4.1 General Features H Murai 4.1.1 Sheet Cavitation 4.1.2 Travelling Bubble Cavitation 4.1.3 Vortical Cavitation 4.1.4 Hydraulic Loss Caused by Cavitation 4.2 Hydrofoil and Hydrofoil Cascade H Murai 4.2.1 Cavitation Characteristics of Hydrofoil 4.2.2 Cavitation Characteristics of Conventional Airfoil Sections 4.2.3 Cavitation Characteristics of Ogival Hydrofoils 4.2.4 Cavitation Characteristics of Hydrofoil Cascade 4.2.5 Cavitation Characteristics of Conventional Airfoil and Ogival Profiles 4.2.6 Hydrofoil Profile Suitable for Decelerating and Accelerating Cascades 4.2.7 Computer Simulation of Partially Cavitating Foil 4.2.8 Supercavitating Hydrofoil 4.2.9 Supercavitating Hydrofoil Cascade 4.3 Control Valves E Outa 4.3.1 General Features of Control Valve Cavitation 4.3.2 Cavitation Pictures of Globe Valve Flows 4.3.3 Cavitation Inception due to Vortex Growth 4.3.4 Cavitation Erosion and Anti-Cavitation Valves References 5 Cavitation P h e n o m e n a in Hydraulic Machinery 5.1 General Features of Turbine Cavitation H Tanaka 5.1.1 Cavitation in Francis Turbines 5.1.2 Cavitation in Propeller Turbines 5.1.3 Cavitation in Pelton Turbines 5.1.4 Cavitation in Francis Pump-Turbines 5.2 General Features of Pump Cavitation R K Turton 5.2.1 Introduction 5.2.2 General Effect on Pumps

vii

157 157 160 161 161 166 166 170 171 175 176 180 182 184 186 187 187 194 197 202 205 211 211 211 220 225 226 229 229 229

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Contents

5.2.3 Net Positive Suction Head 5.2.4 Definition of Critical NPSHR 5.2.5 Implications for Pump Design 5.2.6 The Role of the Inducer 5.3 Pump Cavitation Similarity V Chebaevsky and V Petrov 5.3.1 Problem Nature and Similarity Conditions 5.3.2 Thermodynamic Property Simulation 5.4 Cavitation Detection Techniques E Egusquiza 5.4.1 Introduction 5.4.2 Generation of Noise and Vibration 5.4.3 Propagation 5.4.4 Background Noise 5.4.5 Cavitation Detection in Frequency Domain 5.4.6 Cavitation Detection in Time Domain 5.4.7 Cavitation Detection with Time-Frequency Analysis References 6 Cavitation D a m a g e t o Hydraulic Machinery 6.1 General Mechanism of Cavitation Damage Y Iwai and T Okada 6.1.1 Introduction 6.1.2 Cavitation Bubble Collapse Pressures and Damage 6.1.3 Correlation between Erosion Resistance and Mechanical Property 6.2 Cavitation Damage in Turbines SCLi 6.2.1 Introduction 6.2.2 Propeller and Kaplan Turbines 6.2.3 Francis Turbine 6.2.4 Pelton Turbine 6.2.5 Cavitation Guarantee 6.3 Cavitation Damage in Pumps SCLi 6.3.1 Introduction 6.3.2 Axial Flow Pumps 6.3.3 Centrifugal Pumps 6.3.4 Pump-turbines

232 235 236 240 242 242 248 251 251 252 253 254 255 259 263 265 269 269 269 269 276 277 277 285 286 290 292 295 295 295 296 298

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Contents

6.3.5 Cavitation Guarantee 6.4 Silt-Laden Water Effect SCLi 6.4.1 Introduction 6.4.2 Silt Erosion 6.4.3 Synergism of Silt and Cavitation Erosions 6.5 High Resistance Materials SCLi 6.5.1 Introduction 6.5.2 Fused Materials 6.5.3 Non-fused Materials 6.6 Repair of Machine SCLi 6.6.1 Introduction 6.6.2 Cause of Damage 6.6.3 Main Concerns in Repair 6.6.4 Examples References 7 Cavitation Caused Vibrations 7.1 Cavitation Pressure Pulsation in Turbines 7.1.1 Blade Cavity Pulsations J Sato 7.1.2 Blade Wake Cavitation Pulsations J Sato 7.1.3 Draft Tube Vortex Core Cavitation Pulsations P Henry 7.2 Cavitation Induced Pulsations in Pumps 7.2.1 Introduction R K Turton 7.2.2 Characteristics of Cavitation Induced Pulsations Y Tsujimoto 7.2.3 Mechanisms of Cavitation Induced Pulsations Y Tsujimoto 7.2.4 Cavitation Characteristics - Mass Flow Gain Factor and Cavitation Compliance Y Tsujimoto 7.3 Influence of Operating Conditions P Henry

ix

299 302 302 302 307 314 314 314 330 334 334 334 336 343 353 359 359 359 364 364 369 369 372 376

380 383

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Contents

7.3.1 Preliminary Discussion 7.3.2 Part Load Precession 7.3.3 80% Load Oscillations 7.3.4 Draft Tube Free Oscillations 7.3.5 Auto-oscillations 7.3.6 Influence of the Test Head 7.3.7 Thoma Number 7.4 Cavitation Resonance in Hydraulic Machinery Installations P Henry 7.4.1 Introduction 7.4.2 Prototype Installation 7.4.3 Model Tests 7.4.4 Stability of the Prototype Installation References 8 U n s t e a d y Cavitation Flows Caused by Machine Transients Part 1: Turbine Transients C S Martin 8.1 Introduction 8.2 Types of Turbine Cavitation 8.2.1 Francis Turbines 8.2.2 Kaplan Turbines 8.3 Draft-Tube Column Separation Incidents 8.4 Physical Modelling of Cavitating Transient Flows 8.5 Two-Phase Flow Modelling in Conduits 8.5.1 Acoustic Velocity 8.5.2 Slug Flow 8.6 Analytical Modelling of Cavitating Transient Flows References Part 2: P u m p Transients H Tsukamoto 8.7 Introduction 8.8 Transient Cavitation in Discharge Lines 8.8.1 Transient Cavitation Type 8.8.2 Water Column Separation 8.9 Transient Cavitating Flow in Turbopumps 8.9.1 True Total Pressure Rise 8.9.2 Transient Behaviour of a Cavitating Pump 8.9.3 Transient Characteristics of Pump

383 383 388 388 398 401 403 405 405 405 409 413 417 423 423 423 424 424 432 433 436 440 441 444 444 445 451 451 451 451 453 453 453 455 457

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Contents

8.10 Computer Simulation of Cavitating Transient Flows in Pump System 8.11 Concluding Remarks References xi

460 461 463

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PREFACE It is a privilege to be asked to write a prefatory note on this remark­ able reference book, the latest in the Hydraulic Machinery book series. It is unusually wide in scope, ranging from basic research to engineering applica­ tions. Its publication marks the achievement of a large team of specialists in cavitation research and in the design and operation of hydro-turbines and storage pumps. Although the problem of cavitation in machines is an old one, dating back at least to the time of Galileo (16th century), it has not yet been completely solved. This is because hydraulic machines are faced with increasingly se­ vere performance requirements demanded by economic pressures. The need to provide cheaper designs involving smaller and more powerful machines rotating at higher speeds continues to heighten the danger of cavitation. Despite improved techniques that have been developed for detecting and measuring cavitation, and thereby assessing the damage capacity of cavitating flows, they do not necessarily solve the problem, but may nevertheless provide useful guidance for avoiding trouble. The International Editorial Committee of the book series decided to ini­ tiate an up to date review of the state of the art of coping with practical cavitation problems in hydraulic machinery. An imposing team of twenty specialists was formed to cover topics ranging from basic cavitation research, machine design and performance, cavitation and abrasion damage and its repair, and also cavitation induced machine vibration and transient oscil­ lations. A study of the chapter headings will show the particularly wide variety of topics covered in one volume; it is also a welcome trend that they range from basic science/applied physics to engineering operations. This has required a well conceived plan and efficient organisation by a patient and indefatigable Editor who has also written several of the sections. With exemplary co-operation he and the other authors have been engaged for twelve years in producing this comprehensive review of current knowledge. Congratulations and thanks are therefore due to all concerned with launch­ ing and completing this monumental task. I am sure that all readers will be most grateful to the international team's outstanding achievement in assem­ bling this treasure trove. S.P. Hutton Emeritus Professor University of Southampton xiii

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Foreword of the Editor The present book Cavitation of Hydraulic Machinery is a volume in the Hydraulic Machinery book series. It covers cavitation related subjects from fundamental mechanisms to practical applications in turbines and pumps 1 . Cavitation is one of the most unwanted phenomena in hydraulic machin­ ery despite the fact that it does have some positive effects in other fields. Al­ though a great advance in understanding this phenomenon has been achieved in the last 100 years, our knowledge about cavitation is not good enough to precisely predict and completely solve this problem. Nowadays, most of the cavitation related work in hydraulic machinery still, to a great extent, relies on previous experience, model test and prototype observation. After introducing cavitation and its relationship to hydraulic machines, the rest of this book falls naturally into two parts. The first part, Chapters 2, 3 and 4, deals with the fundamental knowledge necessary for understand­ ing the cavitation involved in hydraulic machines. It includes: cavitation types, scale effects, nucleation and inception, single bubble dynamics, multibubble dynamics (bubble-bubble, bubble-boundary and bubble-flow inter­ actions), stochastic models of cavitation bubbles, noise spectra, cavitating flows of hydro-foil and cascade, cavitating characteristics of valves and other hydraulic elements. The second part, Chapters 5, 6, 7 and 8, deals with cavitation related themes in turbines and pumps such as cavitation features, similarities, cavitation detection techniques, cavitation damage mechanism and features, synergism of cavitation with silt erosion, material resistances to cavitation damage, cavitation-damage repair, cavitation-induced pressurepulsations, cavitation resonance, cavitating transient flow and computer sim­ ulation. As it is impossible to include all relevant subjects in a single volume, careful selection has been necessary. Only those basic concepts and new de­ velopments which are not covered by existing books and review articles 2 are given in-depth treatment. Extensive lists of references and footnotes are thus included to support the presentation and assist readers who want to dig deeper. A total of 17 authors from 7 countries, all experts in their chosen fields, have made contributions to the book. By drawing upon wide resources and 'As agreed at the Inaugural Meeting of the International Editorial Committee, the Book Series would deal only with hydro-turbines and pumps. 2 Such as Cavitation by Knapp/Daily/Hammitt (1970), Cavitation by Young (1989), Cavitation and Bubble Dynamics by Brennen (1995) and 'Cavitation in Fluid Machinery and Hydraulic Structure' (Ann. Rev. Fluid Mech) by Arndt (1981) etc. xv

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xvi

Foreword of the Editor

experiences from North America, Europe, China, Russia, Japan etc, the book aims to give a more balanced view of the various topics. The editor is greatly indebted to all the authors for their valuable contributions and effective cooperation over last 12 years. Without their great efforts, the book would not have been possible. In particular, I would like to say a few words in memory of Professor Pierre Henry who died on 26th April 1994 from cancer. We miss him very much, he was only 54 and had built up the Lausanne Laboratory and established a brilliant reputation in unsteady operating conditions due to cavitating vortices. The sections of §7.1.3, §7.3 and §7.4 he wrote were mainly based on that remarkable work. The structure and content of this book was originally proposed by the editor in 1983 as a monograph to be written in collaboration with Professor Fredrick G. Hammitt (University of Michigan, USA) as an effort to bridge the existing gap between fundamental cavitation phenomena and cavitationrelated subjects in hydraulic machines. This book, together with another proposed joint book on the topic of transients in hydraulic machines, sub­ sequently provided the inspiration for the Hydraulic Machinery book series. The International Editorial Committee (IECBSHM) was established for this purpose in 1986 in Beijing. Unfortunately, a deterioration in his health denied Professor Hammitt the opportunity to participate in the book. Nev­ ertheless, his enthusiastic response to the editor's initial motion was a vital support and encouragement. I would like to take this opportunity to say a special word of thanks in memory of Fred, who passed away in 1989. In order to provide up-to-date information to our readers, authors were allowed to amend their contributions right up to the last minute, squeez­ ing the editing and compilation into the last few months. This presented me with a very complicated and intensive job. The support of the follow­ ing persons was invaluable in achieving this. Many experts were invited to review manuscripts. Their constructive criticism, comments, discussion and suggestions are highly valued by the authors and the editor. They are Professor Peter W Carpenter (Warwick University, UK), Professors Allan Acosta, Dr. M L Billet and Professor C E Brennen (California Institute of Technology, USA), Dr. R K Turton (Loughborough University, UK) and Mr. Harland Topham (Water Turbine and Pump Consultant, UK). Thanks also go to Professor Duan C G and Dr A P Boldy of IECBSHM for their support; to Professor H Murai for his assistance in coordinating with some authors in the early stage; to Dr. Tony Price and Dr. Wanda Lewis (Warwick University, UK) for their advice; to Mrs. Wendy Murray (IT Services, Warwick Univer­ sity) for her assistance in preparing computer-editable source files from some

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Foreword of the Editor

xvii

manuscripts; and to Mr. Alan Hulme (the Engineering Computer Manager) and the secretaries for their effective support. The constant support and encouragement received from Professor David Anderson (the Chairman, School of Engineering) and Professor Peter W Car­ penter (the Head of the Division, Civil & Mechanical Engineering), and the advice given by Dr S P Hutton (Professor Emeritus, University of Southamp­ ton, UK), who also wrote the preface, were greatly appreciated. During the publishing process, the advice received from the commission­ ing editors, Dr John Navas, Mr Anthony Doyle, and the desk editor, Mr Yeow Hwa Quek, was vital that made this volume eventually available to our readers. My work on the book is supported in part by the National Research Grant No. 87022190 of Water and Power (China), the EPSRC (Engineer­ ing and Physic Science Research Council, UK) Grants (GR/F57977 and GR/L74729), and the internal funds of the School of Engineering, Warwick University (UK). The figures in the book have come from a variety of sources. The ac­ knowledgement appears in the caption as a parenthetical reference keyed by the name(s) of the original author(s) and a number to the list of references at the chapter end where the source is cited in full. A particular thank you goes to Mr. R Stahel (Sulzer Hydro Ltd, Switzerland) who kindly supplied me with the original photos of Figures 6.14, 6.23, 6.24, 6.26 and 6.27. Finally, the editor is in great debt to his family members for their un­ derstanding, support and forbearance during the lengthy process of writing and editing this book. LI S C, Editor University of Warwick

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Contributing Authors

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Shengcai Li, Professor, IRCHM (Beijing); and North China University of Water Resources, China. Principal Research Fellow (Warwick University, UK). Founding member of lECBSHM. Distinctiongraduation specialised in hydraulic machinery from the Beijing University of Hydraulic Engi­ neering. PhD (self-guided) from Warwick Uni­ versity. Research Engineer, Ministry of Water Resources & Power, 1964-77. Since 1977, asso­ ciated with the North China University of Wa­ ter Resources. Visiting Scientist to the Univer­ sity of Michigan (US A) 1981-83. Research areas: cavitation in hydraulic machinery, stochastic be­ haviour of cavitation, transient flows of flow sys­ tems, developments of pioneering turbines and governors, turbine-test techniques. Allan Acosta, Hayman Professor Emeritus, Division of Engineering & Applied Science, California Institute of Technology, Pasadena, California 91125, USA. Born in 1924, Anaheim, California, USA. B.S. 1945, M.S. 1948 and PhD 1952 from California Institute of Technology; then, Assistant Profes­ sor, Associate Professor and Professor. Execu­ tive Officer for Mechanical Engineering 1988-93; Richard L. and Dorothy M. Hayman Professor of Mechanical Engineering 1990-93. Research ar­ eas: cavitation flow in turbomachines, hydrody­ namics, heat transfer. Life Fellow of the Amer­ ica Society of Mechanical Engineering, Fellow of the America Association for Advanced Science, XIX

xx

Contributing

Authors

Member of the National Academy of Engineers (USA).

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Vadim Chebaevsky, Professor, Moscow State University of Environmental En­ gineering, Moscow, Russia. Doctor of Technical Science. Graduated from the Moscow Aviation Institute in 1949. Author and co-author of 5 monographs, a branch ref­ erence book, a textbook, training aids, 90 sci­ entific articles and 56 inventions. Scientific ac­ tivities: improvement of cavitation character­ istics for blade pumps with different working media; hydraulic improvement and cavitation erosion/tear prediction of large blade pumps; and, automation of technical process for landreclamation stations.

Eduard Egusquiza, Professor, Department of Fluid Mechanics, Polytechnic University of Catalonia, (UPC) at Barcelona, Spain. Born in Barcelona. Industrial Eng. and Dr. Eng. at UPC. Assistant and Associate Professor in 1977-83 at the Faculty of Industrial Engineer­ ing (ETSEI) in Terrassa. Professor in 1983 at the University of Oviedo and 1988 at the ETSEI in Barcelona. Research on unsteady flows, flow induced vibrations and condition monitoring in turbomachinery (axial flow fans and hydraulic machinery).

Contributing

Pierre Henry, (Deceased) Professor, Federal Institute of Technology, Lausanne, Switzerland.

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Professor Henry died on the 26th April 1994 from cancer. The Sections, §7.1.3, §7.3 and §7.4, he prepared are included in this volume as a trib­ ute to Pierre.

Yoshiro Iwai, Professor, Department of Mechanical Engineering, Pukui University, Fukui, Japan. Born in Japan in 1949. Graduated from the Graduate School of Kyoto University in 1977 and received a Doctor degree in Engineering from Kyoto University in 1980. Professor at the De­ partment of Mechanical Engineering, Fukui Uni­ versity since 1991. Research on wear and cavitation erosion. C. Samuel Martin, Professor, School of Civil Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332-0355, USA. Born in USA in May 22, 1936. Ph.D (1964) and M.S. (1961) from Georgia Institute of Technol­ ogy; B.S. (1958) from Virginia Polytechnic Insti­ tute and State University. Assistant (63-67), As­ sociate (67-74) and full Professor (74-present) at Georgia Institute of Technology. Guest Profes­ sor (Technical University of Munich, West Ger­ many, 1984-85; University of Karlsruhe, Ger­ many, 1970-71). Ford Foundation Faculty Res­ ident, Harza Engineering Company (1966-67).

Authors

xxi

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xxii

Contributing

Authors

Designer of Hydraulic Machinery, Newport News Shipbuilding and Dry Dock Company (1959-60). Professional Engineer, State of Georgia. Re­ search experience: Cavitation characteristics of control valves using signal analysis, development of numerical methods for representing charac­ teristics of hydraulic machinery (pump-turbines, Francis turbines and Kaplan turbines), hydraulic model testing (pump intakes, bifurcations and spillways). Honours: Alexander von Humboldt U.S. Senior Scientist Award (1984-85), Ameri­ can Society of Mechanical Engineers Fellow Elec­ tion (1983), American Society of Civil Engineers J. C. Stevens Award (1977), American Society of Mechanical Engineers John R. Freeman Scholar (1970-71), Fulbright Travel Grantee (1970-71), Ford Foundation Faculty Fellow (1966-67) and Ford Foundation Fellowship (1961-62). H Murai, Professor Emeritus, Tohoku University, Sendai, Japan. Born in Hiroshima in 1922. Graduated from Tohoku University in 1944. Master (1946) and Doctor (1957) of Engineering from Tohoku Uni­ versity. Lecturer (1946), Assistant Professor (1947), Professor (1960-1985) and Director (1974-1979) of the Institute of High Speed Mechanics. Pro­ fessor of Hiroshima Institute of Technology from 1985 to 1992. Technical advisor (1968-1985 and 1995) of National Aerospace Laboratory. Exec­ utive Director (1977-1978) of the Japan Society of Mechanical Engineers. President (1985-1986) of the Visualisation Society of Japan. Member (1988) of the Engineering Academy of Japan. Research Fellow (1992-1995) of Tsuru Promo­ tion Society for Education & Research.

Contributing Authors

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Tsunenori Okada, Professor Emeritus, Department of Mechanical Engineering, Pukui University, Pukui, Japan. Born in Japan in 1931. Graduated from Osaka City University in 1954 and received a Doctor degree in Engineering from Kyoto University in 1967. Professor at the Department of Mechan­ ical Engineering, Fukui University, in 1971-97. Visiting Professor at the University of Michigan in 1979-1980. Research on cavitation erosion. Eisuke Outa, Professor, Department of Mechanical Engineering, Waseda University, Tokyo, Japan. Born in Kobe, Japan. B.S. (1963), M.S. (1965) and Dr. Engr. (1976) from Waseda Univer­ sity. Assistant and Associate Professor in 19681975 at the Department of Mechanical Engi­ neering, Waseda University; and, Professor since 1975. Research interests include: experimen­ tal and computational studies of unsteady flows, turbomachinery noise, high speed flow and shock waves in gas and multi-phase media, cavitation in control valves and pump cascades, noise re­ duction of supersonic jet flow etc. Vladimir Petrov, Professor, Russian Academy of Space Technology, Korolyov Town, Russia. Academician of Russian Academy of Space Tech­ nology, Doctor of Science. Graduated from the Moscow Bauman Technical University in 1958. Fields of research: hydrodynamics of one and two phase fluid flows with cavitation, calcula­ tion and design of hydraulic equipments of fuel supply systems for space industry. Author and

xxiii

xxiv

Contributing

Authors

co-author of 7 monographs, 70 scientific articles and 50 inventions.

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Joshiro Sato, Senior Chief Engineer, Hitach Ltd. Hitach Works, Japan. Born in Japan in 1939. BS (1962) and Dr. Eng. (1991) from Tohoku University. Engaged in re­ search, development, design and project man­ agement of pump-turbines and conventional tur­ bines in the Turbine Design Department since 1962. Specialised in cavitation and silt erosion. Akira Shima, Professor Emeritus, Tohoku University, Sendai, Japan. Born in Morioka, Japan, in 1930. Bachelor in Engineering from Iwate University in 1953 and Doctor of Engineering from the Graduate School of Tohoku University in 1959. Associate Profes­ sor at the Institute of High Speed Mechanics, Tohoku University, in 1959. Senior Research Fellow at the California Institute of Technology, USA, in 1969-70. Professor at the Institute of High Speed Mechanics in 1970-89 and Professor at the Institute of Fluid Science in 1989-1994, Tohoku University. Councillor of Tohoku Uni­ versity in 1987-89. Since 1994, Professor Emeri­ tus of Tohoku University. Research areas: bub­ ble dynamics, cavitation, water jet and nozzle. Hiroshi Tanaka, Chief Fellow Specialist, Energy System Group, Toshiba Corporation, Yokohama, Japan. Born in Japan in 1933. Graduated from the University of Tokyo in 1956 and serving with Toshiba Corporation since then. For the first 20 years of service, research and development for

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Contributing Authors

both conventional turbines and reversible pumpturbines. Chief Engineer in charge of hydraulic machinery in 1987, supervising all R& D and de­ sign/manufacture of hydraulic turbines. Since 1991, Chief Fellow Specialist. Members of In­ ternational Association of Hydraulic Research, International Hydropower Association; member and Ex. Council member of Japanese Society of Mechanical Engineers; member and Ex. Presi­ dent of Visualisation Society of Japan; member and Ex. Vice President of Turbomachinery So­ ciety of Japan. Yoshinobu Tsujimoto, Professor, Faculty of Engineering Science, Osaka University, Toyonaka Osaka, Japan. Born in Japan in 1949, Bachelor (1971) and Doc­ tor (1977) of Engineering from Osaka University. Research Associate (1977), Associate Professor (1986) and Professor (1989) of Osaka University. Visiting Associate at the California Institute of Technology from 1983 to 1984. Hiroshi Tsukamoto, Professor, Kyushu Institute of Technology, Kitakyushu, Japan. Born in Aichi, Japan, in 1948. Bachelor in En­ gineering from Waseda University in 1972. Mas­ ter of Engineering in 1974, and Doctor of Engi­ neering in 1977, from University of Tokyo. Lec­ turer at University of Tokyo in 1977. Associate Professor at Kyushu Institute of Technology, in 1978. Professor at Kyushu Institute of Tech­ nology since 1992. Research areas: hydraulic machines, pump, unsteady flow, unsteady flow measurements.

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Contributing

Authors

Cavitation of Hydraulic Machinery Downloaded from www.worldscientific.com by 195.168.34.60 on 08/12/15. For personal use only.

Keith R. Turton, Retired, Senior Lecturer, Department of Mechanical Engineering, Loughborough University of Technology, Leicestershire, England. Visiting Fellow, School of Mechanical Engineer­ ing, Cranfield Institute of Technology. Design consultant to a number of companies on prob­ lems in pumping and fluid dynamics. Author of Principles of Turbomachinery published by E & F N Spon and Principles of Centrifugal Pump Design published by Cambridge Univer­ sity Press.