TOWARDS THE DESIGN OF KRESLING TOWER ORIGAMI AS A COMPLIANT BUILDING BLOCK

In this paper, the use of the Kresling tower origami as a building block for compliant mechanism design is considered. Design tools to help building systems using this origami are introduced. First, a model which can describe the tower kinematics during its deployment is introduced. This model is exploited to link the origami pattern geometry to the main Kresling tower characteristics which include the position of stable configurations, the helical motion and the configuration of panels during the tower deployment. Second, a local modification of fold geometry is introduced to adjust the tower stiffness. This aims at modifying the actuation force without affecting the kinematics and consists in the removal of material on the fold line where constraints are concentrated during the folding. Experimental evaluation is conducted to verify the relevance of the proposed models and the impact of fold line modification. As a result, the design relationships derived from the model are precise enough for the synthesis, with a global relative mean error around 0.8% for the prediction of the helical motion, and 3.1% for the assessment of stable configurations. The capacity to significantly modify the actuation force thanks to the fold line modification is also observed with a reduction of about 73% of the maximal force to switch between two stable configurations.

Analysis of Storage Effects in the Recirculation Zone Based on the Junction Angle of Channel Confluence

In this study, numerical simulations using the Environmental Fluid Dynamics Code model were conducted to elucidate the effects of flow structures in the recirculation zone on solute storage based on the junction angle. Numerical simulations were performed at a junction angle of 30° to 90° with a momentum flux ratio of 1.62. The simulation results revealed that an increase in the junction angle caused the recirculation zone length and width to increase and strengthened the development of helical motion. The helical motion increased the vertical gradient of the mixing layer and the mixing metric of the dosage curves. The recirculation zone accumulated the solute as a storage zone, which formed a long tail in the concentration curves. The interaction between the helical motion and recirculation zone affected the transverse mixing, such that the transverse dispersion had a positive relationship with the helical motion intensity and a negative relationship with the recirculation zone size. Transverse mixing exhibited an inverse relationship with the mass exchange rate of the recirculation zone. These results indicate that the transverse dispersion is replaced by mixing due to strongly developed storage zones.

Nano-Particles Carried by Multiple Dynein Motors Self-Regulate Their Number of Actively Participating Motors

Intra-cellular active transport by native cargos is ubiquitous. We investigate the motion of spherical nano-particles (NPs) grafted with flexible polymers that end with a nuclear localization signal peptide. This peptide allows the recruitment of several mammalian dynein motors from cytoplasmic extracts. To determine how motor–motor interactions influenced motility on the single microtubule level, we conducted bead-motility assays incorporating surface adsorbed microtubules and combined them with model simulations that were based on the properties of a single dynein. The experimental and simulation results revealed long time trajectories: when the number of NP-ligated motors Nm increased, run-times and run-lengths were enhanced and mean velocities were somewhat decreased. Moreover, the dependence of the velocity on run-time followed a universal curve, regardless of the system composition. Model simulations also demonstrated left- and right-handed helical motion and revealed self-regulation of the number of microtubule-bound, actively transporting dynein motors. This number was stochastic along trajectories and was distributed mainly between one, two, and three motors, regardless of Nm. We propose that this self-regulation allows our synthetic NPs to achieve persistent motion that is associated with major helicity. Such a helical motion might affect obstacle bypassing, which can influence active transport efficiency when facing the crowded environment of the cell.

Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block

In this paper, the use of the Kresling tower origami as a building block for compliant mechanism design is considered. Two contributions are introduced to develop a synthesis method of such a building block. First, models to link the origami pattern geometry to the Kresling tower kinematics are derived. The position of stable configurations, the lead angle of its helical motion are expressed as functions of the pattern parameters. Experimental validation of the models is performed. Second, a modification of pattern by local adjustment of fold geometry is introduced. This aims at modifying the origami stiffness without affecting the kinematics. The use of modified fold geometries is experimentally investigated. The capacity to strongly modify the stiffness level is observed, which is encouraging to go towards a synthesis method with decoupling of kinematics and stiffness selection.

Discussion on Roundness of Non-Ferromagnetic Tube by Interior Magnetic Abrasive Finishing Using a Magnetic Machining Jig

In this study, mainly researching the improvement of roundness of thick SUS304 stainless steel tube by interior magnetic abrasive finishing using a magnetic machining jig. The influence of reciprocating velocity of magnetic pole unit on the improvement of roundness of interior surface was studied by establishing the dynamic equation of magnetic machining jig. Experimental results showed that low reciprocating velocity of magnetic pole unit is conducive to the improvement of interior roundness of the thick SUS304 stainless steel tube. The reason is that the low reciprocating velocity of magnetic pole unit reduces the pitch of the helical motion and can produce greater finishing force of the magnetic machining jig.

Research of particle movement on rough surface formed by screw movement of sinusoid under action of own weight

The differential equations of particle movement on a rough surface which is formed by the helical motion of a sinusoid under the action of the force of own weight were obtained in the article. The sinusoid is the axial cross-section curve of the helical surface and is located in the vertical plane. The obtained equations were solved by numerical methods and the trajectories of the particle on the helical surface were constructed. In addition, graphs of the change in the particle velocity and its distance from the axis of the surface were found, as a result of which the conditions when stabilization of the particle movement is possible were found. It is shown that in the general case, as a result of acceleration, the particle moves away from the axis of the surface and stops in one of its gutters. The depth and density of the gutters are controlled by changing the constant coefficients parameters. Also, a partial case at zero depths of the gutter, when the sinusoid turns into a straight line and the particle moves on the surface of the helical conoid, were considered.

Nano-particles carried by multiple dynein motors: A Self-Regulating Nano-Machine

Native cargos demonstrate efficient intra-cellular active transport. Here we investigate the motion of spherical nano-particles (NPs) grafted with flexible polymers, each ending with a nuclear localization signal peptide, thereby allowing recruitment of mammalian cytoplasmic dynein. Bead-motility assays show several unique motility features, depending on the number of NP-bound motors. NPs perform angular motion, in which the plus-end directed and right-handed motions are correlated. To simulate the system, we formulate a theoretical model that builds on single mammalian dynein properties, generalized to include motor-motor elastic and excluded-volume interactions. We find that long time trajectories exhibit both left- and right-handed helical motion, consistent with the measured angular velocity. The number of participating motors is self-regulated, thus allowing the NP to benefit from alternations between single and multiple transporting motors. Native cargos could use a similar approach to achieve both obstacle bypassing and persistent motion in the crowded cellular environment.Significance StatementThe mechanism of active transport of native cargos, such as some viruses, is a long-standing conundrum. Their need for persistence motion towards the nucleus, while bypassing obstacles in the super-crowded intracellular milieu, requires sophisticated natural design. To fathom this machinery, we study a smartly designed nano-particle that recruits several dynein motor-proteins from the cytoplasm. Motility assays and model simulations reveal long run-times, long run-lengths, and helical motion around the microtubule symmetry axis. Moreover, the nano-particles self-regulate the number of dyneins participating in the motion, which optimizes its motility properties. We suggest that alternating between single motor motility, which we believe is beneficial for obstacle bypassing, and multiple motor states, which engender persistent motion towards the nucleus, the NP achieves optimal transport efficiency.