Review on generic methods for mechanical modeling, simulation and control of soft robots

In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot. First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite Element Method (FEM). We also show how these models can be updated based on sensor data. Then, we are interested in the problem of inverse kinematics, under constraints, with generic solutions without assumption on the robot shape, the type, the placement or the redundancy of the actuators, the material behavior… We are also interested by the use of these models and algorithms in case of contact with the environment. Moreover, we refer to dynamic control algorithms based on mechanical models, allowing for robust control of the positioning of the robot. For each of these aspects, this paper gives a quick overview of the existing methods and a focus on the use of FEM. Finally, we discuss the implementation and our contribution in the field for an open soft robotics research.

Sensitivity Analysis of Holdback Bar Release Load during Catapult-Assisted Takeoff of Carrier-Based Aircraft

The release load of holdback bar will affect the safety of catapult-assisted takeoff of carrier-based aircraft, and the accurate control of releasing the load will ensure success. The magnitude and the control accuracy of release load are important parameters which impact the takeoff performance, therefore unstable release load and insufficient release precision are the main factors affecting the takeoff safety. In this paper, mechanical models of the carrier-based aircraft in the catapult-assisted takeoff tensioning state and gliding state after release are established based on multi-body dynamics, contact mechanics and tribological theory, and the influence of the release load of the holdback bar on the catapult-assisted takeoff performance is analyzed. Furthermore, a kinetic model of the holdback bar device is established, and the kinetic characteristics of the release process of the holdback bar are studied. Based on the kinetic model and friction model of the holdback bar, the influencing factors of the sensitivity of the holdback bar release load are analyzed and the structural parameters are optimized. The results show that the released load decreases slowly with the increase of the contact surface angle of the holdback bar structure and increases rapidly when that angle reaches the critical value; besides, the release load increases slowly with the increase of the friction coefficient of the contact surface and increases faster when the critical friction coefficient is reached.

Two-field variational formulations for a class of nonlinear mechanical models

A nonlinear boundary value problem arising from continuum mechanics is considered. The nonlinearity of the model arises from the constitutive law which is described by means of the subdifferential of a convex constitutive map. A bipotential [Formula: see text], related to the constitutive map and its Fenchel conjugate, is considered. Exploring the possibility to rewrite the constitutive law as a law governed by the bipotential [Formula: see text], a two-field variational formulation involving a variable convex set is proposed. Subsequently, we obtain existence and uniqueness results. Some properties of the solution are also discussed.

History, philosophy, and value of mechanical models in sports science and engineering

This article is giving an introduction to JSET’s special section on mechanical models. It explains why mechanical models represent essential tools in sports engineering, defines their potential application fields and proposes a possible categorization. Further two short examples of mechanical models with corresponding literature and an overview of the manuscripts included in this special section are given.

Stability and local bifurcation analyses of two-wheeled trailers considering the nonlinear coupling between lateral and vertical motions

The nonlinear dynamics of two-wheeled trailers is investigated using a spatial 4-DoF mechanical model. The non-smooth characteristics of the tire forces caused by the detachment of the tires from the ground and other geometrical nonlinearities are taken into account. Beyond the linear stability analysis, the nonlinear vibrations are analyzed with special attention to the nonlinear coupling between the vertical and lateral motions of the trailer. The center manifold reduction is performed leading to a normal form up to third degree terms. The nature of the emerging periodic solutions, and, thus, the sense of the Hopf bifurcations are verified semi-analytically and numerically. Simplified models of the trailer are also used in order to point out the practical relevance of the study. It is shown that the linearly independent pitch motion affects the sense of the Hopf bifurcations at the linear stability boundary. Namely, the constructed spatial trailer model provides subcritical bifurcations for higher center of gravity positions, while the commonly used simplified mechanical models explore the less dangerous supercritical bifurcations only. Domains of loss of contact of tires are also detected and shown in the stability charts highlighting the presence of unsafe zones. Experiments are carried out on a small-scale trailer to validate the theoretical results. A good agreement can be observed between the measured and numerically determined critical speeds and vibration amplitudes.

Postseismic Relaxation Following the 2019 Ridgecrest, California, Earthquake Sequence

ABSTRACT The 2019 Ridgecrest, California, earthquake sequence involved predominantly right-lateral strike slip on a northwest–southeast-trending subvertical fault in the 6 July M 7.1 mainshock, preceded by left-lateral strike slip on a northeast–southwest-trending subvertical fault in the 4 July M 6.4 foreshock. To characterize the postseismic deformation, we assemble displacements measured by Global Positioning System (GPS) and Interferometric Synthetic Aperture Radar. The geodetic measurements illuminate vigorous postseismic deformation for at least 21 months following the earthquake sequence. The postseismic transient deformation is particularly well constrained from survey-mode GPS (sGPS) in the epicentral region carried out during the weeks after the mainshock. We interpret these observations with mechanical models including afterslip and viscoelastic relaxation of the lower crust and mantle asthenosphere. During the first 21 months, up to several centimeters of horizontal motions are measured at continuous GPS and sGPS sites, with amplitude that diminishes slowly with distance from the mainshock rupture, suggestive of deeper afterslip or viscoelastic relaxation. We find that although afterslip involving right-lateral strike slip along the mainshock fault traces and their deeper extensions reach a few decimeters, most postseismic deformation is attributable to viscoelastic relaxation of the lower crust and mantle. Within the Basin and Range crust and mantle, we infer a transient lower crust viscosity several times that of the mantle asthenosphere. The transient mantle asthenosphere viscosity is ∼1.3×1017 Pa s, and the adjacent Central Valley transient mantle asthenosphere viscosity is ∼7×1017 Pa s, about five times higher and consistent with an asymmetry in postseismic horizontal motions across the mainshock surface rupture.

Numerical Study on the Influence of Profile Shape on the Stability of a Nonhomogeneous Slope

To study the influence of profile shape on the stability of nonhomogeneous slopes, strip mechanical models of slopes with different profile shapes were established following the simplified Bishop method. Three hundred and seventy slope models with different profile shapes and strata sequences were simulated and analyzed with FLAC3D. The results show that slopes with weaker-to-stronger (WtS) strata sequences are, in most cases, more stable than slopes with stronger-to-weaker (StW) strata sequences when all other conditions are the same. Slopes with linear shapes are the most stable. With increasing arch height, the stability of convex slopes decreases, and the stability of concave slopes first increases slightly and then decreases. When the strata sequences are WtS, the factors of safety (FoSs) of slopes with convex and exterior polyline shapes decrease more slowly. However, when the strata sequences are StW, the FoSs of slopes with concave and interior polyline shapes decrease more slowly. The greatest X-displacements are concentrated in the steeper areas of the slopes. For different strata sequences, the higher the rock strength at the steeper position is, the more stable the slope is, and the opposite trend is also observed. For the same strata sequence, the stability of a polyline-shaped slope is always better than that of a curved slope with the same inflection point.

An asymptotic preserving scheme for a tumor growth model of porous medium type

Mechanical models of tumor growth based on a porous medium approach have been attracting a lot of interest both analytically and numerically. In this paper, we study the stability properties of a finite difference scheme for a model where the density evolves down pressure gradients and the growth rate depends on the pressure and possibly nutrients. Based on the stability results, we prove the scheme to be asymptotic preserving (AP) in the incompressible limit. Numerical simulations are performed in order to investigate the regularity of the pressure. We study the sharpness of the $L^4$-uniform bound of the gradient, the limiting case being a solution whose support contains a bubble which closes-up in finite time generating a singularity, the so-called focusing solution.

Application of Absolute Nodal Coordinate Formulation in Calculation of Space Elevator System

The space elevator system is a space tether system used to solve low-cost space transportation. Its high efficiency, large load, reusability and other characteristics have broad application prospects in the aerospace field. Most of the existing mechanical models are based on “chain-bar” and a lumped mass tether model, which cannot effectively reflect the flexible behaviour of the rope of space elevator system. To establish an accurate mechanical model, the gradient deficient beam elements of the absolute nodal coordinate formulation (ANCF) are used to build the mechanical model of the space elevator system. The universal gravitation and centrifugal force in the model are derived. The calculation results of the ANCF model are compared with the results of the finite element method (FEM) and lumped mass (LM) models. The results show that the calculation results of the ANCF method are not very different from the results of the FEM and LM models in the case of axial loading. In the case of lateral loading, the calculation results of the ANCF method are basically the same as the results of the FEM and LM models, but can better reflect the local flexible deformation of the space elevator rope, and have a better calculation stability than FEM. Under the same calculation accuracy, the ANCF method can use fewer elements, and the speed of convergence is faster than the FEM and LM models.