Natural motion of one-dimensional flexible objects using minimization approaches

For one-dimensional flexible objects such as ropes, chains, hair, the assumption of constant length is realistic for large-scale 3D motion. Moreover, when the motion or disturbance at one end gradually dies down along the curve defining the one-dimensional flexible objects, the motion appears ``natural''. This paper presents a purely geometric and kinematic approach for deriving more natural and length-preserving transformations of planar and spatial curves. Techniques from variational calculus are used to determine analytical conditions and it is shown that the velocity at any point on the curve must be along the tangent at that point for preserving the length and to yield the feature of diminishing motion. It is shown that for the special case of a straight line, the analytical conditions lead to the classical tractrix curve solution. Since analytical solutions exist for a tractrix curve, the motion of a piecewise linear curve can be solved in closed-form and thus can be applied for the resolution of redundancy in hyper-redundant robots. Simulation results for several planar and spatial curves and various input motions of one end are used to illustrate the features of motion damping and eventual alignment with the perturbation vector.

Factors influencing stick-slip motion: effect of hardness, crystal structure and surface texture

In the present investigation, efforts were made to study the different frictional responses of materials with varying crystal structure and hardness during sliding against a relatively harder material of different surface textures and roughness. In the experiments, pins were made of pure metals and alloys with significantly different hardness values. Pure metals were selected based on different class of crystal structures, such as face centered cubic (FCC), body centered cubic (BCC), body centered tetragonal (BCT) and hexagonal close packed (HCP) structures. The surface textures with varying roughness were generated on the counterpart plate which was made of H-11 die steel. The experiments were conducted under dry and lubricated conditions using an inclined pin-on-plate sliding tester for various normal loads at ambient environment. In the experiments, it was found that the coefficient of friction is controlled by the surface texture of the harder mating surfaces. Further, two kinds of frictional response, namely steady-state and stick-slip, were observed during sliding. More specifically, stead-state frictional response was observed for the FCC metals, alloys and materials with higher hardness. Stick-slip frictional response was observed for the metals which have limited number of slip systems such as BCT and HCP. In addition, the stick-slip frictional response was dependent on the normal load, lubrication, hardness and surface texture of the counterpart material. However, for a given kind of surface texture, the roughness of the surface affects neither the average coefficient of friction nor the amplitude of stick-slip oscillation significantly.

Periodic architecture for high performance shock absorbing composites

A novel composite architecture consisting of a periodic arrangement of closely-spaced spheres of a stiff material embedded in a soft matrix is proposed for extremely high damping and shock absorption capacity. Efficacy of this architecture is demonstrated by compression loading a composite, where multiple steel balls were stacked upon each other in a polydimethylsiloxane (PDMS) matrix, at a low strain-rate of 0.05 s(-1) and a very high strain-rate of >2400 s(-1). The balls slide over each other upon loading, and revert to their original position when the load is removed. Because of imposition of additional strains into the matrix via this reversible, constrained movement of the balls, the composite absorbs significantly larger energy and endures much lesser permanent damage than the monolithic PDMS during both quasi-static and impact loadings. During the impact loading, energy absorbed per unit weight for the composite was, 8 times larger than the monolithic PDMS.

Adiabatic eigenfunction-based approach for coherent excitation transfer: An almost analytical treatment of the Fenna-Matthews-Olson complex

We suggest a method of studying coherence in finite-level systems coupled to the environment and use it for the Hamiltonian that has been used to describe the light-harvesting pigment-protein complex. The method works with the adiabatic states and transforms the Hamiltonian to a form in which the terms responsible for decoherence and population relaxation are separated out. Decoherence is then accounted for nonperturbatively and population relaxation using a Markovian master equation. Almost analytical results can be obtained for the seven-level system, and the calculations are very simple for systems with more levels. We apply the treatment to the seven-level system, and the results are in excellent agreement with the exact numerical results of Nalbach et al. Nalbach, Braun, and Thorwart, Phys. Rev. E 84, 041926 (2011)]. Our approach is able to account for decoherence and population relaxation separately. It is found that decoherence causes only damping of oscillations and does not lead to transfer to the reaction center. Population relaxation is necessary for efficient transfer to the reaction center, in agreement with earlier findings. Our results show that the transformation to the adiabatic basis followed by a Redfield type of approach leads to results in good agreement with exact simulation.

Rheometry of granular materials in cylindrical Couette cells: Anomalous stress caused by gravity and shear

The cylindrical Couette device is commonly employed to study the rheology of fluids, but seldom used for dense granular materials. Plasticity theories used for granular flows predict a stress field that is independent of the shear rate, but otherwise similar to that in fluids. In this paper we report detailed measurements of the stress as a function of depth, and show that the stress profile differs fundamentally from that of fluids, from the predictions of plasticity theories, and from intuitive expectation. In the static state, a part of the weight of the material is transferred to the walls by a downward vertical shear stress, bringing about the well-known Janssen saturation of the stress in vertical columns. When the material is sheared, the vertical shear stress changes sign, and the magnitudes of all components of the stress rise rapidly with depth. These qualitative features are preserved over a range of the Couette gap and shear rate, for smooth and rough walls and two model granular materials. To explain the anomalous rheological response, we consider some hypotheses that seem plausibleapriori, but showthat none survive after careful analysis of the experimental observations. We argue that the anomalous stress is due to an anisotropic fabric caused by the combined actions of gravity, shear, and frictional walls, for which we present indirect evidence from our experiments. A general theoretical framework for anisotropic plasticity is then presented. The detailed mechanics of how an anisotropic fabric is brought about by the above-mentioned factors is not clear, and promises to be a challenging problem for future investigations. (C) 2013 AIP Publishing LLC.

The effect of base roughness on the development of a dense granular flow down an inclined plane

The development of the flow of a granular material down an inclined plane starting from rest is studied as a function of the base roughness. In the simulations, the particles are rough frictional spheres interacting via the Hertz contact law. The rough base is made of a random configuration of fixed spheres with diameter different from the flowing particles, and the base roughness is decreased by decreasing the diameter of the base particles. The transition from an ordered to a disordered flowing state at a critical value of the base particle diameter, first reported by Kumaran and Maheshwari Phys. Fluids 24, 053302 (2012)] for particles with the linear contact model, is observed for the Hertzian contact model as well. The flow development for the ordered and disordered flows is very different. During the development of the disordered flow for the rougher base, there is shearing throughout the height. During the development of the ordered flow for the smoother base, there is a shear layer at the bottom and a plug region with no internal shearing above. In the shear layer, the particles are layered and hexagonally ordered in the plane parallel to the base, and the velocity profile is well approximated by Bagnold law. The flow develops in two phases. In the first phase, the thickness of the shear layer and the maximum velocity increase linearly in time till the shear front reaches the top. In the second phase, after the shear layer encompasses the entire flow, there is a much slower increase in the maximum velocity until the steady state is reached. (C) 2013 AIP Publishing LLC.

SELF-ORGANIZATION AND FRICTION DURING SLIDING

In self-organized sliding processes, the surfaces align to each other during sliding. This alignment leads to a more ordered contact state and significantly influences the frictional behavior. To understand the self-organization sliding processes, experiments were conducted on a pin-on-plate reciprocating sliding tester for various numbers of cycles. In the experiments, soft magnesium pins were slid against hard steel plates of various surface textures (undirectional, 8-ground, and random). Experimental results showed that the transfer layer formation on the steel plates increased with increasing number of cycles for all surfaces textures under both dry and lubricated conditions. The friction also increased with the number of cycles under dry conditions for all of the textures studied. During lubricated conditions, the friction decreased for unidirectional and 8-ground surfaces and increased for random surfaces with the number of cycles. Furthermore, the friction and transfer layer formation depend on the surface textures under both dry and lubricated conditions during the first few sliding cycles. Later on, it is less dependent of surface textures. The variation in the coefficient of friction under both dry and lubrication conditions were attributed to the self-organization process that occurred during repeated sliding.

Effect of hinged leaflets on vortex pair generation

We experimentally study the effect of having hinged leaflets at the jet exit on the formation of a two-dimensional counter-rotating vortex pair. A piston-cylinder mechanism is used to generate a starting jet from a high-aspect-ratio channel into a quiescent medium. For a rigid exit, with no leaflets at the channel exit, the measurements at a central plane show that the trailing jet in the present case is never detached from the vortex pair, and keeps feeding into the latter, unlike in the axisymmetric case. Passive flexibility is introduced in the form of rigid leaflets or flaps that are hinged at the exit of the channel, with the flaps initially parallel to the channel walls. The experimental arrangement closely approximates the limiting case of a free-to-rotate rigid flap with negligible structural stiffness, damping and flap inertia, as these limiting structural properties permit the largest flap openings. Using this arrangement, we start the flow and measure the flap kinematics and the vorticity fields for different flap lengths and piston velocity programs. The typical motion of the flaps involves a rapid opening and a subsequent more gradual return to its initial position, both of which occur when the piston is still moving. The initial opening of the flaps can be attributed to an excess pressure that develops in the channel when the flow starts, due to the acceleration that has to be imparted to the fluid slug between the flaps. In the case with flaps, two additional pairs of vortices are formed because of the motion of the flaps, leading to the ejection of a total of up to three vortex pairs from the hinged exit. The flaps' length (L-f) is found to significantly affect flap motions when plotted using the conventional time scale L/d, where L is the piston stroke and d is the channel width. However, with a newly defined time scale based on the flap length (L/L-f), we find a good collapse of all the measured flap motions irrespective of flap length and piston velocity for an impulsively started piston motion. The maximum opening angle in all these impulsive velocity program cases, irrespective of the flap length, is found to be close to 15 degrees. Even though the flap kinematics collapses well with L/L-f, there are differences in the distribution of the ejected vorticity even for the same L/L-f. Such a redistribution of vorticity can lead to important changes in the overall properties of the flow, and it gives us a better understanding of the importance of exit flexibility in such flows.

Stall flutter of NACA 0012 airfoil at low Reynolds numbers

In the present work, we experimentally study and demarcate the stall flutter boundaries of a NACA 0012 airfoil at low Reynolds numbers (Re similar to 10(4)) by measuring the forces and flow fields around the airfoil when it is forced to oscillate. The airfoil is placed at large mean angle of attack (alpha(m)), and is forced to undergo small amplitude pitch oscillations, the amplitude (Delta alpha) and frequency (f) of which are systematically varied. The unsteady loads on the oscillating airfoil are directly measured, and are used to calculate the energy transfer to the airfoil from the flow. These measurements indicate that for large mean angles of attack of the airfoil (alpha(m)), there is positive energy transfer to the airfoil over a range of reduced frequencies (k=pi fc/U), indicating that there is a possibility of airfoil excitation or stall flutter even at these low Re (c=chord length). Outside this range of reduced frequencies, the energy transfer is negative and under these conditions the oscillations would be damped. Particle Image Velocimetry (PIV) measurements of the flow around the oscillating airfoil show that the shear layer separates from the leading edge and forms a leading edge vortex, although it is not very clear and distinct due to the low oscillation amplitudes. On the other hand, the shear layer formed after separation is found to clearly move periodically away from the airfoil suction surface and towards it with a phase lag to the airfoil oscillations. The phase of the shear layer motion with respect to the airfoil motions shows a clear difference between the exciting and the damping case.

Bearing Capacity of Foundations with Inclined Groundwater Seepage

The ultimate bearing capacity of strip foundations in the presence of inclined groundwater flow, considering both upward and downward flow directions, has been determined by using the lower bound finite-element limit analysis. A numerical solution has been generated for both smooth and rough footings placed on frictional soils. A correction factor (f gamma), which needs to be multiplied with the N gamma-term, has been computed to account for groundwater seepage. The variation of f gamma has been obtained as a function of the hydraulic gradient (i) for various inclinations of groundwater flow. For a given magnitude of i, there exists a certain critical inclination of the flow for which the value of f gamma is minimized. With an upward flow, for all flow inclinations, the magnitude of f gamma always reduces with an increase in the value of i. An example has also been provided to illustrate the application of the obtained results when designing foundations in the presence of groundwater seepage.

Stability of long unsupported twin circular tunnels in soils

The stability of two long unsupported circular parallel tunnels aligned horizontally in fully cohesive and cohesive-frictional soils has been determined. An upper bound limit analysis in combination with finite elements and linear programming is employed to perform the analysis. For different clear spacing (S) between the tunnels, the stability of tunnels is expressed in terms of a non-dimensional stability number (gamma H-max/c); where H is tunnel cover, c refers to soil cohesion, and gamma(max) is maximum unit weight of soil mass which the tunnels can bear without any collapse. The variation of the stability number with tunnels' spacing has been established for different combinations of H/D, m and phi; where D refers to diameter of each tunnel, phi is the internal friction angle of soil and m accounts for the rate at which the cohesion increases linearly with depth. The stability number reduces continuously with a decrease in the spacing between the tunnels. The optimum spacing (S-opt) between the two tunnels required to eliminate the interference effect increases with (i) an increase in H/D and (ii) a decrease in the values of both m and phi. The value of S-opt lies approximately in a range of 1.5D-3.5D with H/D = 1 and 7D-12D with H/D = 7. The results from the analysis compare reasonably well with the different solutions reported in literature. (C) 2013 Elsevier Ltd. All rights reserved.

Fretting wear study of Cu-10 wt% TiB2 and Cu-10 wt% TiB2-10 wt% Pb composites

In developing materials with better tribological properties, it is always conceived that the addition of softer phase would result in better frictional behavior. In order to address this issue, we report here the results of fretting wear study on Cu-10 wt% TiB2 and Cu-10 wt% TiB2-10 wt% Pb composites, sintered using spark plasma sintering (SPS) technique. It was found out that the addition of softer phase i.e. 10 wt % Pb to Cu-10 wt% TiB2 composites has not resulted in the lowering of the coefficient of friction (COF). The combination of steady state COF (0.6) and wear rate (10(-3) mm(3)/N-m) was measured and such properties are even better than that obtained with TiB2 coatings reported in the literature. For Cu-10 wt% TiB2 sintered at different temperature, a lower wear resistance with increase in hardness is being measured. An attempt has been made to correlate the observed wear behavior with the surface and subsurface deformation. The formation of a wear-resistant delaminated tribolayer consisting of TiB2 particles and ultrafine oxide debris (Cu, Fe, Ti)(x)O-y was the reason assigned for the observed low wear rate of these composites. (C) 2013 Elsevier B.V. All rights reserved.

Compressibility behaviour of bentonite and organically modified bentonite slurry

Bentonite in slurry walls needs to be amended with organo-clay to control the migration of organic contaminants. Consolidation behaviour of the slurry is important because it will reduce the total effective stress owing to mobilisation of frictional force between the side wall of the trench and the slurry. Compressibility of the slurry of bentonite is expected to undergo significant changes owing to amendment with organo-clay and according to the nature of the fluid. Standard one-dimensional consolidation tests were carried out on slurries of bentonite, organo-clay and their mixtures by remoulding them to their respective liquid limit consistency with water as well as fluids of low polarity, such as carbon tetrachloride, and inundating with different fluids. Organo-clay and its mixture with bentonite when moulded with water exhibit lower compressibility than bentonite in any pore fluid, but their compressibility increases when moulded with carbon tetrachloride and inundated with the same fluid. These changes in the compressibility of bentonite amended with organo-clay are explained by particle rearrangements, changes in the development of the diffuse double layer and contribution from the water adsorbed in the inter-lamellar space of the clay.

Energy Loss in the Impact of Elastic Spheres on a Rigid Half-Space in Presence of Adhesion

Adhesion can cause energy losses in asperities or particles coming into dynamic contact resulting in frictional dissipation, even if the deformation occurring is purely elastic. Such losses are of special significance in impact of nanoparticles and friction between surfaces under low contact pressure to hardness ratio. The objective of this work is to study the effect of adhesion during the normal impact of elastic spheres on a rigid half-space, with an emphasis on understanding the mechanism of energy loss. We use finite element method for modeling the impact phenomenon, with the adhesion due to van der Waals force and the short-range repulsion included as body forces distributed over the volume of the sphere. This approach, in contrast with commonly used surface force approximation, helps to model the interactions in a more precise way. We find that the energy loss in impact of elastic spheres is negligible unless there are adhesion-induced instabilities. Significant energy loss through elastic stress waves occurs due to jump-to-contact and jump-out-of-contact instabilities and can even result in capture of the elastic sphere on the half-space.

Studies on the wobble mode stability of a three-wheeled vehicle

A wobble instability is one of the major problems of a three-wheeled vehicle commonly used in India, and these instabilities are of great interest to industry and academia. In this paper, we studied this instability using a multi-body dynamic model and with experiments conducted on a prototype three-wheeled vehicle on a test track. The multi-body dynamic model of a three-wheeled vehicle is developed using the commercial software ADAMS/Car. In an initial model, all components including main structures such as the frame, the steering column and the rear forks are assumed to be rigid bodies. A linear eigenvalue analysis, which is carried out at different speeds, reveals a mode that has predominantly a steering oscillation, also called a wobble mode, with a frequency of around 5-6Hz. The analysis results shows that the damping of this mode is low but positive up to the maximum speed of the three-wheeled vehicle. However, the experimental study shows that the mode is unstable at speeds below 8.33m/s. To predict and study this instability in detail, a more refined model of the three-wheeled vehicle, with flexibilities of three important bodies, was constructed in ADAMS/Car. With flexible bodies, three modes of a steering oscillation were observed. Two of these are well damped and the other is lightly damped with negative damping at lower speeds. Simulation results with flexibility incorporated show a good match with the instability observed in the experimental studies. Further, we investigated the effect of each flexible body and found that the flexibility of the steering column is the major contributor for wobble instability and is similar to the wheel shimmy problem in aircraft.