Physical modelling of flexible retaining walls under seismic actions

A series of dynamic centrifuge tests on reduced scale models of flexible retaining structures were conducted on the Turner beam centrifuge at the Schofield Centre of the University of Cambridge. The paper illustrates the main results of the experimental work in terms of observed amplifications of ground motion and mobilised shear stiffness and damping ratio for all tests. The experimental results for one test on a pair of cantilevered walls in dense sand are also presented in terms of measured bending moments and horizontal displacements of the walls during (maximum values) and at the end of (residual values) each seismic event. Finally, the experimental data are discussed in the light of the results obtained from dynamic numerical analyses of the behaviour of cantilevered walls under real seismic actions. © 2010 Taylor & Francis Group, London.

I did that! Measuring users' experience of agency in their own actions

Cognitive neuroscience defines the sense of agency as the experience of controlling one's own actions and, through this control, affecting the external world. We believe that the sense of personal agency is a key factor in how people experience interactions with technology. This paper draws on theoretical perspectives in cognitive neuroscience and describes two implicit methods through which personal agency can be empirically investigated. We report two experiments applying these methods to HCI problems. One shows that a new input modality - skin-based interaction - can substantially increase users' sense of agency. The second demonstrates that variations in the parameters of assistance techniques such as predictive mouse acceleration can have a significant impact on users' sense of agency. The methods presented provide designers with new ways of evaluating and refining empowering interaction techniques and interfaces, in which users experience an instinctive sense of control and ownership over their actions. Copyright 2012 ACM.

Emerging modes of collective cell migration induced by geometrical constraints.

The role of geometrical confinement on collective cell migration has been recognized but has not been elucidated yet. Here, we show that the geometrical properties of the environment regulate the formation of collective cell migration patterns through cell-cell interactions. Using microfabrication techniques to allow epithelial cell sheets to migrate into strips whose width was varied from one up to several cell diameters, we identified the modes of collective migration in response to geometrical constraints. We observed that a decrease in the width of the strips is accompanied by an overall increase in the speed of the migrating cell sheet. Moreover, large-scale vortices over tens of cell lengths appeared in the wide strips whereas a contraction-elongation type of motion is observed in the narrow strips. Velocity fields and traction force signatures within the cellular population revealed migration modes with alternative pulling and/or pushing mechanisms that depend on extrinsic constraints. Force transmission through intercellular contacts plays a key role in this process because the disruption of cell-cell junctions abolishes directed collective migration and passive cell-cell adhesions tend to move the cells uniformly together independent of the geometry. Altogether, these findings not only demonstrate the existence of patterns of collective cell migration depending on external constraints but also provide a mechanical explanation for how large-scale interactions through cell-cell junctions can feed back to regulate the organization of migrating tissues.

On the behaviour of flexible retaining walls under seismic actions

This paper describes an experimental investigation of the behaviour of embedded retaining walls under seismic actions. Nine centrifuge tests were carried out on reduced-scale models of pairs of retaining walls in dry sand, either cantilevered or with one level of props near the top. The experimental data indicate that, for maximum accelerations that are smaller than the critical limit equilibrium value, the retaining walls experience significant permanent displacements under increasing structural loads, whereas for larger accelerations the walls rotate under constant internal forces. The critical acceleration at which the walls start to rotate increases with increasing maximum acceleration. No significant displacements are measured if the current earthquake is less severe than earthquakes previously experienced by the wall. The increase of critical acceleration is explained in terms of redistribution of earth pressures and progressive mobilisation of the passive strength in front of the wall. The experimental data for cantilevered retaining walls indicate that the permanent displacements of the wall can be reasonably predicted adopting a Newmark-type calculation with a critical acceleration that is a fraction of the limit equilibrium value.

Local stability results for the collective behaviors of infinite populations of pulse-coupled oscillators

In this paper, we investigate the behavior of pulse-coupled integrate-and-fire oscillators. Because the stability analysis of finite populations is intricate, we investigate stability results in the approximation of infinite populations. In addition to recovering known stability results of finite populations, we also obtain new stability results for infinite populations. In particular, under a weak coupling assumption, we solve for the continuum model a conjecture still prevailing in the finite dimensional case. © 2011 IEEE.

Stabilization of planar collective motion with limited communication

This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework. © 2008 IEEE.

Stabilization of collective motion in three dimensions: A consensus approach

This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem. We first derive the stabilizing control laws in the presence of all-to-all communication. Providing each agent with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and time-varying communication topologies. © 2007 IEEE.

Oscillator models and collective motion

A description of the so called "particles with coupled oscillator dynamics" (PCOD) is presented which is used to model, analyze and synthesize collective motion. An oscillator model with spatial dynamics is presented to help describe how to design steering control laws while it is being used to study biological collectives. Lastly, both engineering and biological analysis were described.

Stabilization of planar collective motion: All-to-all communication

This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level. © 2007 IEEE.

Collective motion, sensor networks, and ocean sampling

This paper addresses the design of mobile sensor networks for optimal data collection. The development is strongly motivated by the application to adaptive ocean sampling for an autonomous ocean observing and prediction system. A performance metric, used to derive optimal paths for the network of mobile sensors, defines the optimal data set as one which minimizes error in a model estimate of the sampled field. Feedback control laws are presented that stably coordinate sensors on structured tracks that have been optimized over a minimal set of parameters. Optimal, closed-loop solutions are computed in a number of low-dimensional cases to illustrate the methodology. Robustness of the performance to the influence of a steady flow field on relatively slow-moving mobile sensors is also explored © 2006 IEEE.

Collective optimization over average quantities

This paper addresses the design of algorithms for the collective optimization of a cost function defined over average quantities in the presence of limited communication. We argue that several meaningful collective optimization problems can be formulated in this way. As an application of the proposed approach, we propose a novel algorithm that achieves synchronization or balancing in phase models of coupled oscillators under mild connectedness assumptions on the (possibly time-varying and unidirectional) communication graphs. © 2006 IEEE.

Collective motion of self-propelled particles: Stabilizing symmetric formations on closed curves

We provide feedback control laws to stabilize formations of multiple, unit speed particles on smooth, convex, and closed curves with definite curvature. As in previous work we exploit an analogy with coupled phase oscillators to provide controls which isolate symmetric particle formations that are invariant to rigid translation of all the particles. In this work, we do not require all particles to be able to communicate; rather we assume that inter-particle communication is limited and can be modeled by a fixed, connected, and undirected graph. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. The methodology is demonstrated using a superellipse, which is a type of curve that includes circles, ellipses, and rounded rectangles. These results can be used in applications involving multiple autonomous vehicles that travel at constant speed around fixed beacons. ©2006 IEEE.

Oscillator models and collective motion: Splay state stabilization of self-propelled particles

This paper presents a Lyapunov design for the stabilization of collective motion in a planar kinematic model of N particles moving at constant speed. We derive a control law that achieves asymptotic stability of the splay state formation, characterized by uniform rotation of N evenly spaced particles on a circle. In designing the control law, the particle headings are treated as a system of coupled phase oscillators. The coupling function which exponentially stabilizes the splay state of particle phases is combined with a decentralized beacon control law that stabilizes circular motion of the particles. © 2005 IEEE.

Collective motion: Bistability and trajectory tracking

This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to Instability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.