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Finite Element Analysis of Piping Vibration with Guided Supports

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Int. J. Mech. Eng. Autom. International Journal of
Volume 3, Number 3, 2016, pp. 96-106 Mechanical Engineering
Received: January 27, 2016; Published: March 25, 2016 and Automation

Finite Element Analysis of Piping Vibration with Guided

Supports

Shankarachar Sutar1, Radhakrishna Madabhushi1 and Ramesh Babu Poosa2

1. Design & Engineering Division, CSIR-Indian Institute of Chemical Technology, Hyderabad 500007, India
2. Department of Mechanical Engineering, College of Engineering, Osmania University, Hyderabad 500007, India
Corresponding author: Radhakrishna Madabhushi (mradhakrishna@iict.res.in)

Abstract: The earlier work by the authors is development of a mathematical model for dynamics and stability of pipe conveying
fluid with guided supports. Simulation of the model is carried out by performing an FEA and results are compared. The effect of end
conditions on the natural frequency for an empty pipe, static and fluid flowing conditions were studied. The mathematical model is
derived by using Euler-Bernoulli beam theory and Hamilton’s energy expressions to get the equation of motion and fundamental
transverse natural frequency of vibration is computed by Muller’s Bi-section numerical method. A FORTRAN program is developed
for estimation of the frequencies in non-dimensional form. The vibration of a fluid conveying pipe with guided ends are modelled by
using the I-DEAS commercial software and the influence of fluid velocity on natural frequencies are analysed by ABAQUS software.
The analytical results were then compared with FEA, and found to be in good agreement.

Keywords: Fluid flow, guided, mathematical model, Muller’s method, natural frequency, transverse.

equation of motion for the simply supported ends and

1. Introduction
Pipes are used for transfer of fluids and are
susceptible to vibrations because of fluid forces acting
on pipe, which resulting flutter instability. Extensive
studies were undertaken by different researchers on
vibrations of piping systems subjected to different
boundary conditions and loadings.
The work on dynamic behaviour of a fluid
conveying pipe was started in 1950 by Ashley and
Havilland [1], who have first examined the vibrations
of an aboveground Trans-Arabian oil pipe line, which
was considered a simply supported pipe. Subsequently,
Housner [2] derived the equations of motion of a fluid
conveying pipe and developed an equation relating the
fundamental bending frequency of a simply supported
pipe to the velocity of the internal flow of the fluid.
He also stated that at certain critical velocity, a
statically unstable condition could exist.
Long [3] presented an alternate solution to Housner’s
fixed-free end conditions. He compared the analysis
with experimental results to confirm the mathematical
model. His experimental results remained
inconclusive since the maximum fluid velocity
available for the test was low and change in bending
frequency was very small. Naguleswaran and
Williams [4] developed solutions for natural
frequencies in axial mode for hinged-hinged,
fixed-hinged, fixed-fixed boundary conditions.
Stein and Tobriner [5] discussed vibration of pipes
containing flowing fluid, in which the effects of
foundation modulus, flow velocity and internal
pressure on the dynamic stability, frequency response
and wave propagation characteristics of an un-damped
system was studied. Notable contributions in this area
include the works of Chen [6] in most of the cases; the
differential equation of motion of fluid-conveyed pipe
is deduced using the Galerkin’s method in Lagrange
system. Subsequently, the solution of the differential
 Finite Element Analysis of Piping Vibration with Guided Supports
equation is obtained by considering many numerical
methods such as transfer matrix, finite element,
perturbation, Runge-Kutta and differential quadrature.
Weaver and Unny [7] studied the dynamic stability
of finite length of pipe conveying fluid using
Flugge-Kempner equation and found the critical flow
velocities. Paidoussis and Issid [8] presented a general
transverse frequency equation with gravitational force,
pressure effects, material damping and viscous
damping effects.
Wang, et al. [9] had conducted research on solid
liquid coupling dynamics of pipe conveying fluid,
where the influence of flowing velocity, pressure,
solid-liquid coupling damping and solid-liquid
coupling stiffness on natural frequency for simply
supported ends was studied. Zhang, et al. [10] studied
the vibration of pipes conveying fluid and developed
dynamic equilibrium matrix using Lagrange Principle
for discretized pipe element flowing fluid for simply
supported, fluid conveying pipe subjected to initial
axial tensions are compared with experimentally
obtained results.
Oz and Boyaci [11] developed a mathematical
model for transverse vibrations of tensioned pipes
conveying fluid with time dependent velocity. The
principal parametric resonance cases are studied,
stability boundary conditions are determined
analytically. Numerical results are presented for the
first two modes. New closed-form solutions for the
natural frequency of a clamped-guided beam are
derived for their investigation [12]. By postulating the
mode shape of the clamped-guided beam, whose
material density and stiffness are taken as polynomial
functions, a closed-form solution was calculated for
the natural frequency.
Wiggert and Tijsseling [13] reviewed the fluid
structure interaction in piping highlighting the effects
of fluid forces on piping and its support structure and
explained how transfer of momentum and forces
between piping and the contained liquid during
unsteady flow, excitation mechanisms may be caused
97
by rapid changes in flow and pressure or initiated by
mechanical action of the piping.
Sinha, et al. [14] developed a finite element model
for cantilever pipe conveying fluid. The instability in
the pipe is due to change in the natural frequencies for
its dynamic behavior. The results of FE model of a
cantilever pipe was compared with experimental data.
Zhang, et al. [15] developed a FE model to predict the
vibration of cylindrical shells conveying fluid and
compared the results with published experimental
results to validate the developed model. Seo, et al. [16]
studied frequency analysis for cylindrical shells using
FEM. The influence of fluid velocity on the frequency
response function was illustrated.
Chellapilla, et al. [17] studied two parameter
foundation effects for fluid conveying pipes resting on
soil media and found the frequencies. Huang [18] used
the Galerkin’s method to obtain the natural
frequencies for fluid conveying pipeline for different
boundary conditions. The four variables mass,
stiffness, length and flow velocity were studied in
detail to estimate the effect of flow velocity on the
natural frequency. Al-Hilli et al. [19] developed a
mathematical model for dynamic behaviour of pipe
under general boundary conditions. Considering the
supports as compliant material with linear and
rotational springs, studied for simply, free built, guide
and found the natural frequencies for each conditions.
Guided pipe supports were always treated as free
ends by the previous authors. The present work is
therefore carried out to understand the vibrations of
pipes that convey fluid with guided type of pipe
supports. The pipe is considered as Euler-Bernoulli
beam and the equation of motion is derived by using
the Hamilton’s variation approach, and an exact
solution is obtained for guided boundary conditions to
get transcendental frequency equation.
Section 2 considers the fourth-order partial
differential equation and the terms in the equation are
represented in non-dimensional form. Section 3
includes derivation of natural frequency equation for
98 Finite Element Analysis of Piping Vibration with Guided Supports

which the exact solution is obtained by using the and fluid flow condition with three different materials.
Matrix method. A finite element model for the Sections 6, presents results and discusses the comparison
guided-guided pipe supports were developed using the of analytical with finite element analysis with
ABAQUS structural and fluid modules and the results percentage error. Conclusions are presented in Section 7.
are presented in Section 4. Section 5 deals with the
2. Theoretical Model
steps involved in development of a FE model and
Tables 1-3 are presented for empty pipe, fluid static The guided boundary condition is as shown in Fig. 1.
Table 1 Vibration analysis of empty pipe with three materials supported in guided slots.
Mode No Eigen value Natural frequency of pipe Eigen Natural frequency of pipe for Eigen Natural frequency of pipe
(λ1) for thermocol supported value (λ2) foam supported in guided value (λ3) for spring supported in
in guided slots (Hz) slots (Hz) guided slots (Hz)
Analytical FEA Analytical FEA Analytical FEA
1 1.0e3 3.7 5.0 1.0e3 3.7 5.0 0.9e3 3.7 5.0
2 3.7e4 33.5 30.6 7.7e4 45.5 44.3 3.6e4 33.5 30.5
3 9.3e4 45.5 48.6 1.5e5 59.5 62.6 4.4e4 33.5 33.7
4 1.9e5 59.5 70.8 2.0e5 75.3 72.7 1.6e5 64.1 64.8
5 2.2e5 75.3 74.9 7.8e5 157.1 140.6 2.0e5 75.3 72.5
6 3.4e5 92.9 93.1 1.2e5 182.2 180.6 3.4e5 92.9 93.0
7 5.2e5 112.5 115.3 - - - 5.3e5 112.5 116.6

Table 2 Vibration analysis of fluid filled (static condition) pipe with three materials supported in guided slots.
Mode No Eigen Natural frequency of pipe Eigen Natural frequency of pipe Eigen Natural frequency of pipe for
value (λ1) for thermocol supported in value (λ2) for foam supported in value (λ3) spring supported in guided
guided slots (Hz) guided slots (Hz) slots (Hz)
Analytical FEA Analytical FEA Analytical FEA
1 1.0e3 3.5 5.0 1.0e3 3.5 5.0 1.0e3 3.48 5.0
2 7.8e4 42.6 44.5 1.5e4 21.7 19.9 2.5e4 21.7 25.5
3 1.4e5 55.6 59.9 7.8e4 42.6 44.6 5.3e4 42.6 37.0
4 2.8e5 86.9 84.2 1.6e5 70.4 65.5 2.3e5 86.9 77.7
5 4.5e5 105.2 106.7 2.3e5 70.4 76.7 2.6e5 86.9 82.3
6 5.8e5 125.2 122.0 2.4e5 86.7 79.5 4.7e5 105.2 109.0

Table 3 Vibration analysis of fluid conveying pipe with guided-guided supports.

Mode No Vel. (m/s) Natural frequency of pipe Vel. Natural frequency of pipe for Vel. Natural frequency of pipe for
for thermocol supported in (m/s) foam supported in guided (m/s) spring supported in guided
guided slots (Hz) slots (Hz) slots (Hz)
Analytical FEA Analytical FEA Analytical FEA
1 20.1 14.8 15.5 20.5 8.0 10.3 20.1 3.5 5.0
2 21.2 3.7 5.3 21.3 21.7 26.1 21.2 8.0 10.6
3 23.3 3.7 5.4 22.3 21.7 20.6 23.3 8.0 10.6
4 24.6 14.8 15.7 23.4 3.5 5.4 23.6 3.5 5.2
 Finite Element Analysis of Piping Vibration with Guided Supports 99

bounds for the frequencies of vibration of the pipe

conveying fluid. The damping term is omitted and Eq.
Fig. 1 Guided-guided pipe support. (2) is a non-dimensional partial differential equation
of higher order with boundary problem.
The guided slot allows the pipe to move freely in the
Now let
vertical direction, and thereby not supporting a shear
( )= . (4)
force. Also it prevents the pipe end from rotation to ( )
= c. s . e ; = c. s . e (5)
keep slope at zero [9].

The linear fourth order partial differential equation . +2 . . + . . =0
is as mentioned below [10] +2 . + =0
where c and s are constants.
+ +2 ( ) + 2 . + ( ) = 0 (6)
+ + =0 (1) The roots of Eq. (10) is given by

where EI—bending stiffness of a pipe, ± ( )

= ; = − ±√ −
A—cross-sectional area of pipe, L—length of pipe,
= ; = ; = − ; =−
U—fluid velocity, mp + mf—pipe plus fluid mass,
Considering first two roots = and = .
w—lateral deflection of pipe, V—non-dimensional
The boundary conditions for guided-guided pipe is
fluid velocity and ωn—circular frequency, and λ is
as given below
wavelength. ( , )
Eq. (1) is simplified by assuming the terms for the = 0 at = 0 (7)
( , )
following dimensionless parameters: = 0 at = 0 (8)
+ (, )
= 0 at = (9)
= ; =
(, )
= 0 at = (10)
w(x) represents the shape of the deformed

configuration and ωn the circular frequency of 3. Derivation of Equation for Natural

vibration of that particular deformed configuration. Frequency
+ (V ) + 2γU −λ w=0 (2)
Let the solution of the general Eq. (1) is given as
where ξ = natural boundary condition, γ = mass ratio. ( ) = sinh + cosh +
= ; = + sin + cos (11)
Then,
+( ) − =0 (3) ( )
= cosh + sinh +
2 =( ); =
√
+ cos − sin (12)
When the natural frequency of the pipe approaches
( )
zero the critical flow velocity has been computed for = α sinh + cosh −
all the end conditions. When the fluid flow velocity is − sin − β cosβx (13)
equal to the critical velocity, the pipe bows out and ( )
= A cosh + B sinh −
buckles as the forces required to make the fluid
− cos + sin (14)
deform to the pipe curvature are greater than the Then,
stiffness of the pipe. The term Coriolis force
represents the damping of the system and its effect on = − + +
the frequency of vibration is negligible and so is = + √ + (15)
omitted, as the present work aims to obtain upper where and are the roots of equation and A, B, C
100 Finite Element Analysis of Piping Vibration with Guided Supports

and D are the arbitrary constants. 4. Simulation of a Pipe Conveying Fluid

Differentiating Eqs. (11)-(14) and on substitution of
The simulation of the pipe is modelled by using
the boundary conditions in Eqs. (7)-(10), we get
I-DEAS software and the analysis is done by
0 0
0 0 ABAQUS Software, which includes the standard and
= =0 (16)
CFD modules to couple and analyse fluid structure
interaction. Figs. 2-4 show a pipe of span 3 m with
where = cosh( ) ; = sinh( ) ; = guided supports at both ends, the pipe material density
cos( ) ; = sin( ) . Similarly, = is = 7850 kg/m3, Young’s modulus is E = 200 Gpa,
cosh ( ) ; = sinh( ) ; = Poisson ratio is = 0.28, the outer diameter of pipe is
− cos( ); = sin( ). = 34 mm and inner diameter is = 30.44 mm, the
0 − 0 thickness of pipe wall is 3.34 mm. The fluid density
= − =0 (17)
conveying in the pipe is = 1000 kg/m3, the mass of
−
pipe is 8.0 kg and the fluid mass is 2.0 kg inside the
0 0
= =0 pipe; water at 20 °C has dynamic viscosity of
− (18)
0.001002 Pa·s.
After simplification of two matrices (17)-(18), we  Case 1: pipe is supported on springs with a
get the frequency equation of guided-guided pipe stiffness of 54 N/mm;
support condition is as given below:  Case 2: the pipe is rested on thermocol;
[( + ) ( )]sinh( ). sin( ) = 0 (19)  Case 3: the pipe is placed on Foam.

Fig. 2 Schematic diagram of guided-guided piping support.

Material properties:
(1) Steel: density = 7850 kg/m3, Young’s modulus = 200 GPa, Poisson’s ratio = 0.28.
(2) Thermocol: density = 20 kg/m3, compressive strength = 1.2 kg/cm, cross breaking strength = 1.8 kg/cm, tensile strength =
4 kg/cm, thermal conductivity = 0.029 Kcalm/hr·mc.
(3) Foam: density = 100 kg/m3, Exx = 0.35 GPa, Eyy = 0.35 GPa, Ezz = 0.35 GPa, Gxy = 0.035 GPa, Gyz = 0.035 GPa, Gzx = 0.035
GPa, Gxy = 0.035 GPa, Gyz = 0.035 GPa, Gzx = 0.035 GPa, υxy = 0.3, υyz = 0.3, υzx = 0.3.
(4) Fluid water properties: density = 1000 kg/m3, water at 20 °C, dynamic viscosity of 0.001002 Pa·s, bulk modulus = 2250
MPa.
 Finite Element Analysis of Piping Vibration with Guided Supports 101

Fig. 3 Finite element mesh model of guided-guided pipe support.

(1) Structure mesh statistics: element type = S4, total number of nodes = 13678, total number of elements = 13392, element
shape = quadrilateral, element order = linear.
(2) Fluid mesh statistics: element type = FC3D8, total number of nodes = 4131, total number of elements = 2904, element
shape = hexahedral fluid elements, element order = linear.

Fig. 4 Structure mesh for guided-guided pipe support.

The entire pipe is modelled in slots of two L-angles ABAQUS/CFD with ABAQUS/Standard are
of 50 mm × 60 mm with a length of 600 mm which is combined and simulated to run the fluid structure
fixed to 10mm thick base plate. The pipe frequencies interaction problem.
are computed for the above three conditions. The pipe stiffness was extracted for particular
Case 1 computes frequencies when pipe is empty. velocity and this stiffness is used to evaluate the
Case 2 is simulated with fluid in static condition and frequency by performing the harmonic analysis in
Case 3 is a situation where the fluid is flowing with linear dynamics domain.
four different velocities, by varying the valve position The 3-D CAD model was generated using I-DEAS
from one-fourth opening to fully open condition. and the model is exported to ABAQUS for
102 Finite Element Analysis of Piping Vibration with Guided Supports
considering it to be a FSI (fluid structure interaction)
problem. Meshing for structural analysis was done by
considering 13678 nodes and 13392 elements. The
shape of the element is quadrilateral, linear and shell
type (S4). The CFD analysis was carried out for fluid
flow in a pipe by meshing the model using hexahedral
fluid elements (4131 elements and 2904 nodes);
Element order is linear type used for fluid mesh is
FC3D8. A convergent solution is obtained by bridging
structural and fluid elements. The average aspect ratio
at the holes, corners and fillet is good and is found to
be 1:4. For the fluid static condition in the pipe, the
coupled acoustic frequency analysis is used to extract
the natural frequencies of the fluid filled pipe.
Harmonic analysis (sine sweep) was carried out on
the structure by applying harmonic force of 1g
acceleration to plot the acceleration vs. frequency (to
find the frequency peaks on the pipe), the first mode
shape was excited at 5Hz as shown in Fig. 5.
This is a transient (implicit method) non-linear FSI
analysis run for 2 s to calculate the stress and
displacement response. Below contour plot indicates
the peak displacement at a particular time increment
as shown in Fig. 6. The study indicates that at high
frequencies the displacement is lower and at lower
frequencies, the fluid velocity will be very high which
Fig. 5 Harmonic analysis (sine sweep) for guided-guided pipe.
lead to turbulence in the pipe. At critical fluid flow
velocity, the frequency approaches zero and pipe starts
buckling and result in an unstable condition.
5. Fluid Structure Interaction by Simulation
 The FSI technique was used using
ABAQUS/Standard and ABAQUS/CFD to couple the
fluid structure interaction where fluid flow is at
different velocities and turbulence of the fluid is also
considered;
 Turbulence k-Epsilon model was considered in
ABAQUS/CFD to model the turbulence of the fluid;
 The dynamic analysis was done for 2secs.The
Implicit dynamic analysis method was used to
calculate the response of the structure with the fluid
(water);
 After extracting the fluid forces on the structure
at maximum deflection in FSI. The base state at the
maximum deflection was used in the frequency
analysis to extract the frequencies;
 Harmonic analysis (sine sweep) was done on the
same structure by applying base excitation of 1g
acceleration force to plot the displacement vs.
frequency;
 As the velocity increases, the natural frequency
of the pipe decreases.
 Finite Element Analysis of Piping Vibration with Guided Supports 103

Fig. 6 Vibration analysis of fluid conveying pipe for guided-guided support.

Tables 1, 2 and 3 show the natural frequency of
guided-guided pipe with three conditions: empty pipe,
fluid filled and fluid flow with different velocities:
comparison of results for theoretical and FEA are
given.
Table 1 and Fig. 7 represent the results for an empty
pipe resting on three pipe support materials:
Thermocol, Foam and Steel Spring. Eigen values change
with corresponding natural frequency of the pipe as
shown in Table 1. Frequencies and Eigen values are
computed for all the three supports and found that
thermocol and spring supported pipe at 6th mode of
force excitation value shows 93 Hz whereas for Foam
support it is 182 Hz.
Table 2 and Fig. 8 present the results of vibration
analysis of fluid filled pipe (static condition) with
guided-guided supports for three different materials. It
is found that the natural frequency for thermocol and

Fig. 7 Non-dimensional natural frequency vs. eigenvalue Fig. 8 Non-dimensional natural frequency vs. eigenvalue
for empty pipe supported with three different materials for pipe filled with water (static condition) guided-guided
supported in guided slots. supports.
104 Finite Element Analysis of Piping Vibration with Guided Supports

spring type supports is more than the foam support
natural frequencies.
Table 3 and Fig. 9 represent the non-dimensional
fluid velocities vs. natural frequency computed for
three different pipe support materials like, thermocol,
foam and spring respectively. In this case it is found
that the frequencies for thermocol and spring are
closer than the foam type.
6. Results and Discussion
The results of piping vibration for guided-guided
ends are obtained theoretically and are validated by
simulation using ABAQUS software. The percentage
error in frequencies for all the 3 conditions is listed in
Tables 4-6.
From the results presented above, it is observed that
for foam type of support the frequencies tend to vary
(follow a cyclic pattern of increase and decrease) with
increase in flow velocities. However, for other type of
supports, i.e., thermocol and spring, it is seen that the
frequencies drastically reduce for the fluid flow
condition only when compared to the other two
conditions as shown in Tables 4-6. It is also observed
that when the pipe rests on foam type of support, the
frequency is higher when pipe is empty than when in
static and flow conditions.

7. Conclusions
The equation of motion for pipe conveying fluid is
derived from energy expressions using the Hamilton’s
Principle. A new transcendental frequency equation is
derived for guided end conditions by using separation
of variables method to obtain natural frequencies of
fluid conveying pipe for different support conditions.
A FORTRAN program is developed to solve the
transcendental frequency equation. The results
obtained are validated with FEA and are found to be
in good agreement with the analytical results. The
results of the guided end conditions show interesting
facts, which was not dealt before. As the fluid velocity
Fig. 9 Fluid velocity vs. natural frequency of fluid
conveying pipe with three different materials supported in increases, both analytical and FEA results presents the
guided slots. variation in frequencies.
Table 4 Comparison of analytical results vs. FEA of empty pipe.
Mode No Natural frequency of pipe for thermocol Natural frequency of pipe for foam Natural frequency of pipe for spring
supported in guided slots (Hz) supported in guided slots (Hz) supported in guided slots (Hz)
Analytical FEA % Error of Theo. vs. Analytical FEA % Error of Theo. vs. Analytical FEA % Error of Theo.
FEA FEA vs. FEA
1 3.7 5.0 25.8 3.72 5.0 25.6 3.7 5.0 25.6
2 33.5 30.6 8.5 45.55 44.3 2.7 33.5 25.5 23.8
3 45.5 48.6 6.3 59.49 62.6 5.0 33.5 37.0 9.5
4 59.5 70.8 15.9 75.30 72.7 3.4 64.1 77.7 17.5
5 75.3 74.9 0.5 157.1 140.6 10.5 75.3 82.3 8.5
6 92.7 93.1 0.2 182.2 180.6 0.8 92.7 109.0 14.7
 Finite Element Analysis of Piping Vibration with Guided Supports 105

Table 5 Comparison of analytical results vs. FEA for fluid filled pipe in static condition.
Mode No Natural frequency of pipe for thermocol Natural frequency of pipe for foam Natural frequency of pipe for spring
supported in guided slots (Hz) supported in guided slots (Hz) supported in guided slots (Hz)
Analytical FEA % Error analytical vs. Analytical FEA %Error analytical vs. Analytical FEA % Error of analytical
FEA FEA vs. FEA
1 3.48 5.0 30.4 3.48 5.0 30.4 3.48 5.0 30.4
2 42.61 44.5 4.24 21.74 19.9 8.46 21.74 25.5 14.74
3 55.66 59.9 7.07 42.61 44.6 4.46 42.61 37.0 13.16
4 86.96 84.2 3.17 70.44 65.5 7.01 86.96 77.7 10.64
5 105.2 106.7 1.40 70.44 76.7 8.16 86.96 82.3 5.35
6 125.2 122.0 2.55 86.96 79.5 8.58 105.22 109.0 3.47

Table 6 Comparison of analytical results vs. FEA for fluid flow condition.
Mode Vel. Natural frequency of pipe for Vel. Natural frequency of pipe for Vel. Natural frequency of pipe for
No (m/s) thermocol supported in guided (m/s) foam supported in guided slots (m/s) spring supported in guided slots
slots (Hz) (Hz) (Hz)
Analytical FEA % Error Analytical FEA % Error Analytical FEA % Error
analytical. vs. analytical. vs. analytical. vs.
FEA FEA FEA
1 20.1 14.8 15.5 4.0 20.5 8.0 10.2 22.0 20.1 3.5 5.0 30.8
2 21.2 3.7 5.3 30.0 21.3 21.7 26.1 16.7 21.2 8.0 10.6 24.7
3 23.3 3.7 5.4 31.3 22.3 21.7 20.6 5.2 23.3 8.0 10.6 24.7
4 24.6 14.8 15.7 5.2 23.4 3.4 5.4 35.4 23.6 3.5 5.2 33.3

Science 10 (3) (1968) 228-238.

Acknowledgments
The authors gratefully acknowledge the
Management of CSIR-Indian Institute of Chemical
Technology, Hyderabad, India and College of
Engineering, Osmania University, Hyderabad, India
for providing the infrastructural facilities.
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