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.

Evaluation of remodeling and geometry on the biomechanical properties of nacreous bivalve shells

Mollusks have developed a broad diversity of shelled structures to protect against challenges imposed by biological interactions(e.g., predation) and constraints (e.g., $$pCO_2$$ p C O 2 -induced ocean acidification and wave-forces). Although the study of shell biomechanical properties with nacreous microstructure has provided understanding about the role of shell integrity and functionality on mollusk performance and survival, there are no studies, to our knowledge, that delve into the variability of these properties during the mollusk ontogeny, between both shells of bivalves or across the shell length. In this study, using as a model the intertidal mussel Perumytilus purpuratus to obtain, for the first time, the mechanical properties of its shells with nacreous microstructure; we perform uniaxial compression tests oriented in three orthogonal axes corresponding to the orthotropic directions of the shell material behavior (thickness, longitudinal, and transversal). Thus, we evaluated whether the shell material’s stress and strain strength and elastic modulus showed differences in mechanical behavior in mussels of different sizes, between valves, and across the shell length. Our results showed that the biomechanical properties of the material building the P. purpuratus shells are symmetrical in both valves and homogeneous across the shell length. However, uniaxial compression tests performed across the shell thickness showed that biomechanical performance depends on the shell size (aging); and that mechanical properties such as the elastic modulus, maximum stress, and strain become degraded during ontogeny. SEM observations evidenced that compression induced a tortuous fracture with a delamination effect on the aragonite mineralogical structure of the shell. Findings suggest that P. purpuratus may become vulnerable to durophagous predators and wave forces in older stages, with implications in mussel beds ecology and biodiversity of intertidal habitats.

Non-Destructive Multi-Method Assessment of Steel Fiber Orientation in Concrete

Integration of fiber reinforcement in high-performance cementitious materials has become widely applied in many fields of construction. One of the most investigated advantages of steel fiber reinforced concrete (SFRC) is the deceleration of crack growth and hence its improved sustainability. Additional benefits are associated with its structural properties, as fibers can significantly increase the ductility and the tensile strength of concrete. In some applications it is even possible to entirely replace the conventional reinforcement, leading to significant logistical and environmental benefits. Fiber reinforcement can, however, have critical disadvantages and even hinder the performance of concrete, since it can induce an anisotropic material behavior of the mixture if the fibers are not appropriately oriented. For a safe use of SFRC in the future, reliable non-destructive testing (NDT) methods need to be identified to assess the fibers’ orientation in hardened concrete. In this study, ultrasonic material testing, electrical impedance testing, and X-ray computed tomography have been investigated for this purpose using specially produced samples with biased or random fiber orientations. We demonstrate the capabilities of each of these NDT techniques for fiber orientation measurements and draw conclusions based on these results about the most promising areas for future research and development.

Viscoelastic parameterization of human skin cells characterize material behavior at multiple timescales

Countless biophysical studies have sought distinct markers in the cellular mechanical response that could be linked to morphogenesis, homeostasis, and disease. Here, an iterative-fitting methodology visualizes the time-dependent viscoelastic behavior of human skin cells under physiologically relevant conditions. Past investigations often involved parameterizing elastic relationships and assuming purely Hertzian contact mechanics, which fails to properly account for the rich temporal information available. We demonstrate the performance superiority of the proposed iterative viscoelastic characterization method over standard open-search approaches. Our viscoelastic measurements revealed that 2D adherent metastatic melanoma cells exhibit reduced elasticity compared to their normal counterparts—melanocytes and fibroblasts, and are significantly less viscous than fibroblasts over timescales spanning three orders of magnitude. The measured loss angle indicates clear differential viscoelastic responses across multiple timescales between the measured cells. This method provides insight into the complex viscoelastic behavior of metastatic melanoma cells relevant to better understanding cancer metastasis and aggression.

Experimental and numerical investigation of metal-polymer riveted joints

This paper presents the modeling and analysis of the joints of metal inserts with polyamide 6 using the injection technique. Based on the conducted experiments, modeling and numerical calculations of joints were carried out for various joint configurations. Metal parts, made of steel grade DC 04, are mechanically locked with polyamide 6 (PA6) with rivets. The mechanical connection with rivets of both elements was achieved by filling the holes in the metal parts in the injection process. As part of the work, mechanical-clamp connections made of steel / PA6 were mechanically tested in a single-axis joint tensile test using appropriate tabs. The main goal was to study and numerically analyze the number of rivets and their location on the metal plate for the strength of the connector. An important element of the work was the modeling process of both the PA6 material behavior and the joint itself. As part of the experimental research, the rivet deformation was also observed using computer thermography with the use of an IR camera. The tests and simulation showed that for the sample, the polymer-metal connected with less than three rivets was destroyed by shear. On the other hand, when the polymer-metal junction was made of three rivets, the jamming mechanism was mainly related to damage to the polymer part. For these joints, the maximum values of the breaking force of the joint were obtained in uniaxial tensile and shear tests where three rivets were used. Similar values were obtained during the numerical calculations performed with the use of Abaqus software.

Impact of the Loading Conditions and the Building Directions on the Mechanical Behavior of Biomedical β-Titanium Alloy Produced In Situ by Laser-Based Powder Bed Fusion

In order to simulate micromachining of Ti-Nb medical devices produced in situ by selective laser melting, it is necessary to use constitutive models that allow one to reproduce accurately the material behavior under extreme loading conditions. The identification of these models is often performed using experimental tension or compression data. In this work, compression tests are conducted to investigate the impact of the loading conditions and the laser-based powder bed fusion (LB-PBF) building directions on the mechanical behavior of β-Ti42Nb alloy. Compression tests are performed under two strain rates (1 s−1 and 10 s−1) and four temperatures (298 K, 673 K, 873 K and 1073 K). Two LB-PBF building directions are used for manufacturing the compression specimens. Therefore, different metallographic analyses (i.e., optical microscopy (OM), scanning electron microscopy (SEM), energy-dispersive X-ray (EDX), electron backscatter diffraction (EBSD) and X-ray diffraction) have been carried out on the deformed specimens to gain insight into the impact of the loading conditions on microstucture alterations. According to the results, whatever the loading conditions are, specimens manufactured with a building direction of 45∘ exhibit higher flow stress than those produced with a building direction of 90∘, highlighting the anisotropy of the as-LB-PBFed alloy. Additionally, the deformed alloy exhibits at room temperature a yielding strength of 1180 ± 40 MPa and a micro-hardness of 310 ± 7 HV0.1. Experimental observations demonstrated two strain localization modes: a highly deformed region corresponding to the localization of the plastic deformation in the central region of specimens and perpendicular to the compression direction and an adiabatic shear band oriented with an angle of ±45 with respect to same direction.

A Fast Approach to Obtain Layered Transition-Metal Cathode Material for Rechargeable Batteries

Li-ion batteries as a support for future transportation have the advantages of high storage capacity, a long life cycle, and the fact that they are less dangerous than current battery materials. Li-ion battery components, especially the cathode, are the intercalation places for lithium, which plays an important role in battery performance. This study aims to obtain the LiNixMnyCozO2 (NMC) cathode material using a simple flash coprecipitation method. As precipitation agents and pH regulators, oxalic acid and ammonia are widely available and inexpensive. The composition of the NMC mole ratio was varied, with values of 333, 424, 442, 523, 532, 622, and 811. As a comprehensive study of NMC, lithium transition-metal oxide (LMO, LCO, and LNO) is also provided. The crystal structure, functional groups, morphology, elemental composition and material behavior of the particles were all investigated during the heating process. The galvanostatic charge–discharge analysis was tested with cylindrical cells and using mesocarbon microbeads/graphite as the anode. Cells were tested at 2.7–4.25 V at 0.5 C. Based on the analysis results, NMC with a mole ratio of 622 showed the best characteristicd and electrochemical performance. After 100 cycles, the discharged capacity reaches 153.60 mAh/g with 70.9% capacity retention.

Benefit of Unsaturated Soil Mechanics Approach on the Modeling of Early-Age Behavior of Rammed Earth Building

Rammed earth has the potential to reduce the carbon footprint and limit the energy consumption in the building sector due to its sustainable characteristics. Still, its use is not generalized due to a lack of understanding of the material behavior, notably its sensitivity to water. The coupled hydro-mechanical behavior has been recently studied in the framework of unsaturated soil mechanics, using suction as the parameter to represent the hydric state. This dependency of the mechanical behavior on the hydric state leads to uncertainty of the drying period required to progress in the construction process. Notably, the drying period before building the next floor is unknown. To determine the drying period, thermo-hydro-mechanical coupled finite element method simulations were carried out on a single wall by using the unsaturated soil mechanics approach and safety criterion recommendations from the practical guide for rammed earth construction in France. It was determined that it takes significant time for the construction of additional floor both in ‘summer-like’ and ‘winter-like’ environmental conditions, whereas the walls were far away from the ultimate failure state. Thus the drying periods were overestimated. It was concluded that the safety criterion from the practical guide is very conservative and drying periods can be reduced without significantly compromising the safety factor.

Finite-element modeling of partially prestressed concrete beams with unbonded tendon under monotonic loadings

Purpose The partially prestressed concrete beam with unbonded tendon is still an active field of research because of the difficulty in analyzing and understanding its behavior. The finite-element (FE) simulation of such beams using numerical software is very scarce in the literature and therefore this study is taken to demonstrate the modeling aspects of unbonded partially prestressed concrete (UPPSC) beams. This study aims to present the three-dimensional (3-D) nonlinear FE simulations of UPPSC beams subjected to monotonic static loadings using the numerical analysis package ANSYS. Design/methodology/approach The sensitivity study is carried out with three different mesh densities to obtain the optimum elements that reflect on the load–deflection behavior of numerical models, and the model with optimum element density is used further to model all the UPPSC beams in this study. Three half-symmetry FE model is constructed in ANSYS parametric design language domain with proper boundary conditions at the symmetry plane and support to achieve the same response as that of the full-scale experimental beam available in the literature. The linear and nonlinear material behavior of prestressing tendon and conventional steel reinforcements, concrete and anchorage and loading plates are modeled using link180, solid65 and solid185 elements, respectively. The Newton–Raphson iteration method is used to solve the nonlinear solution of the FE models. Findings The evolution of concrete cracking at critical loadings, yielding of nonprestressed steel reinforcements, stress increment in the prestressing tendon, stresses in concrete elements and the complete load–deflection behavior of the UPPSC beams are well predicted by the proposed FE model. The maximum discrepancy of ultimate moments and deflections of the validated FE models exhibit 13% and −5%, respectively, in comparison with the experimental results. Practical implications The FE analysis of UPPSC beams is done using ANSYS software, which is a versatile tool in contrast to the experimental testing to study the stress increments in the unbonded tendons and assess the complete nonlinear response of partially prestressed concrete beams. The validated numerical model and the techniques presented in this study can be readily used to explore the parametric analysis of UPPSC beams. Originality/value The developed model is capable of predicting the strength and nonlinear behavior of UPPSC beams with reasonable accuracy. The load–deflection plot captured by the FE model is corroborated with the experimental data existing in the literature and the FE results exhibit good agreement against the experimentally tested beams, which expresses the practicability of using FE analysis for the nonlinear response of UPPSC beams using ANSYS software.