Impedance control is tuned to multiple directions of movement

Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35° angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously. © 2008 IEEE.

Fabrication of high-Q film bulk acoustic resonator (FBAR) filters withcarbon nanotube (CNT) electrodes

FBAR devices with carbon nanotube (CNT) electrodes have been developed withthe aim of taking advantage of the low density and high acoustic impedance ofthe CNTs compared to other known materials. The influence of the CNTs on thefrequency response of the FBAR devices was studied by comparing two identicalsets of devices, one set comprised FBARs fabricated with chromium/gold bilayerelectrodes, and the second set comprised FBARs fabricated with CNT electrodes.It was found that the CNTs had a significant effect on attenuating travellingwaves at the surface of the FBARs membranes due to their high elastic stiffness.Finite element analysis of the devices fabricated was carried out using COMSOLMultiphysics, and the numerical results confirmed the experimental resultsobtained. © 2010 IEEE.

3D FE Analyses of Buried Pipeline with Elbows Subjected to Lateral Loading

This study investigates the interaction between soil and pipeline in sand subjected to lateral ground displacements with emphasis on the peak force exerted to a bended elbow-pipe. A series of three-dimensional (3D) finite-element (FE) analyses were performed in both opening and closing modes of the elbow section for different initial pipe bending angles. To model the mechanical behavior of sands, two soil models were adopted: Mohr-Coulomb and Nor-Sand soil model. Investigations also included the effects of pipe embedment depth and soil density. Results show that the opening mode exhibits higher ultimate forces and greater localized deformations than the closing mode. Nondimensional charts that account for pipeline location, bending angle, and soil density are developed. Soil-spring pipeline analyses of an elbow-pipe were performed using modified F-δ soil-spring models based on the 3D FE results and were compared to the findings of conventional spring model analyses using the standard two-dimensional soil-spring model. Results show that the pipe strain does not change in the closing mode case. However, in the opening mode case, the pipe strain computed by the modified analysis is larger than that by the conventional analysis and the difference is more pronounced when the pipe stiffness is stiffer. © 2011 American Society of Civil Engineers.

Impedance control is selectively tuned to multiple directions of movement

Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make movements in unstable environments with varied directions. When faced with a single direction of instability, humans learn to selectively co-contract their arm muscles tuning the mechanical stiffness of the limb end point to stabilize movements. This study examines, for the first time, subjects simultaneously adapting to two distinct directions of instability, a situation that may typically occur when using tools. Subjects learned to perform reaching movements in two directions, each of which had lateral instability requiring control of impedance. The subjects were able to adapt to these unstable interactions and switch between movements in the two directions; they did so by learning to selectively control the end-point stiffness counteracting the environmental instability without superfluous stiffness in other directions. This finding demonstrates that the central nervous system can simultaneously tune the mechanical impedance of the limbs to multiple movements by learning movement-specific solutions. Furthermore, it suggests that the impedance controller learns as a function of the state of the arm rather than a general strategy. © 2011 the American Physiological Society.

ZnO-Based FBAR resonators with carbon nanotube electrodes

Film bulk acoustic resonator (FBAR) devices with carbon nanotube (CNT) electrodes directly grown on a ZnO film by thermal chemical vapor deposition have been fabricated. CNT electrodes possess a very low density and high acoustic impedance, which reduces the intrinsic mass loading effect resulting from the electrodes' weight and better confines the longitudinal acoustic standing waves inside the resonator, in turn providing a resonator with a higher quality factor. The influence of the CNTs on the frequency response of the FBAR devices was studied by comparing two identical sets of devices; one set comprised FBARs fabricated with chromium/ gold bilayer electrodes, and the second set comprised FBARs fabricated with CNT electrodes. It was found that the CNTs had a significant effect on attenuating traveling waves at the surface of the FBARs' membranes because of their high elastic stiffness. Three-dimensional finite element analysis of the devices fabricated was carried out, and the numerical simulations were consistent with the experimental results obtained. © 2011 IEEE.

The nonlinear heat release response of stratified lean-premixed flames to acoustic velocity oscillations

This paper analyzes the forced response of swirl-stabilized lean-premixed flames to high-amplitude acoustic forcing in a laboratory-scale stratified burner operated with CH4 and air at atmospheric pressure. The double-swirler, double-channel annular burner was specially designed to generate high-amplitude acoustic velocity oscillations and a radial equivalence ratio gradient at the inlet of the combustion chamber. Temporal oscillations of equivalence ratio along the axial direction are dissipated over a long distance, and therefore the effects of time-varying fuel/air ratio on the response are not considered in the present investigation. Simultaneous measurements of inlet velocity and heat release rate oscillations were made using a constant temperature anemometer and photomultiplier tubes with narrow-band OH*/CH* interference filters. Time-averaged and phase-synchronized CH* chemiluminescence intensities were measured using an intensified CCD camera. The measurements show that flame stabilization mechanisms vary depending on equivalence ratio gradients for a constant global equivalence ratio (φg=0.60). Under uniformly premixed conditions, an enveloped M-shaped flame is observed. In contrast, under stratified conditions, a dihedral V-flame and a toroidal detached flame develop in the outer stream and inner stream fuel enrichment cases, respectively. The modification of the stabilization mechanism has a significant impact on the nonlinear response of stratified flames to high-amplitude acoustic forcing (u'/U∼0.45 and f=60, 160Hz). Outer stream enrichment tends to improve the flame's stiffness with respect to incident acoustic/vortical disturbances, whereas inner stream stratification tends to enhance the nonlinear flame dynamics, as manifested by the complex interaction between the swirl flame and large-scale coherent vortices with different length scales and shedding points. It was found that the behavior of the measured flame describing functions (FDF), which depend on radial fuel stratification, are well correlated with previous measurements of the intensity of self-excited combustion instabilities in the stratified swirl burner. The results presented in this paper provide insight into the impact of nonuniform reactant stoichiometry on combustion instabilities, its effect on flame location and the interaction with unsteady flow structures. © 2011 The Combustion Institute.

Effects of constraint curvature on structural instability: tensile buckling and multiple bifurcations

Bifurcation of an elastic structure crucially depends on the curvature of the constraints against which the ends of the structure are prescribed to move, an effect which deserves more attention than it has received so far. In fact, we show theoretically and we provide definitive experimental verification that an appropriate curvature of the constraint over which the end of a structure has to slide strongly affects buckling loads and can induce: (i.) tensile buckling; (ii.) decreasing- (softening), increasing- (hardening), or constant-load (null stiffness) postcritical behaviour; (iii.) multiple bifurcations, determining for instance two bifurcation loads (one tensile and one compressive) in a single-degree-of-freedom elastic system. We show how to design a constraint profile to obtain a desired postcritical behaviour and we provide the solution for the elastica constrained to slide along a circle on one end, representing the first example of an inflexional elastica developed from a buckling in tension. These results have important practical implications in the design of compliant mechanisms and may find applications in devices operating in quasi-static or dynamic conditions.

Faecal pellets in deep marine soft clay crusts: Implications for hot-oil pipeline design

In recent years, the presence of crusts within near surface sediments found in deep water locations off the west coast of Angola has been of interest to hot-oil pipeline designers. The origin for these crusts is considered to be of biological origin, based on the observation of thousands of faecal pellets in natural crust core samples. This paper presents the results of laboratory tests undertaken on natural and faecal pellet-only samples. These tests investigate the role faecal pellets play in modifying the gemechanical behaviour of clayey sediments. It is found that faecal pellets are able to significantly alter both the strength and the average grain-size of natural sediments, and therefore, influence the permeability and stiffness. Hot-oil pipelines self-embed into and subsequent shear on crusts containing faecal pellets. Being able to predict the time required for installed pipelines to consolidate the underlying sediment and thus, how soon after pipe-laying, the interface strength will develop is of great interest to pipeline designers. It is concluded from wet-sieving samples before and after oedometer tests, that the process of pipe laying is unlikely to destroy pellets. They will therefore, be a major constituent of the sediment subject to soil-pipeline shearing behaviour during axial pipe-walking and lateral buckling. Based on the presented results, a discussion highlighting the key implications for pipeline design is therefore provided. Copyright © 2011 by ASME.

Compressive failure of finite size unidirectional composite laminates with a region of fibre waviness

The compressive behaviour of finite unidirectional composites with a region of misaligned reinforcement is investigated via finite element analyses. Models with and without fibre bending stiffness are compared, confirming that compressive strength is accurately predicted without modelling fibre bending stiffness for real composite components which typically have waviness defects of several millimetres wavelength. Various defect parameters are investigated. Results confirm the well-known sensitivity of compressive strength to misalignment angle, and also show that compressive strength falls rapidly with the proportion of laminate width covered by the wavy region. A simple empirical equation is proposed to model the effect of a single patch of waviness in finite specimens. Other parameters such as length and position of the wavy region are found to have a smaller effect on compressive strength. The modelling approach is finally adapted to model distributed waviness and thus determine the compressive strength of composites with realistic waviness defects. © 2011 Elsevier Ltd. All rights reserved.

Dynamic characterisation and longitudinal strength of swaged joints

Swaging is a cold working process involving plastic deformation of the work piece to change its shape. A swaged joint is a connection between two components whereby a swaging tool induces plastic deformation of the components at their junction to effectively bind them together. This is commonly used when welding or other standard joining techniques are not viable. Swaged joints can be found for example, in nuclear fuel assemblies to connect the edges of thin rectangular plates to a supporting structure or frame. The aim of this work is to find a model to describe the vibrational behaviour of a swaged joint and to estimate its strength in resisting a longitudinally applied load. The finite element method and various experimental rigs were used in order to find relationships between the natural frequencies of the plate, the joint stiffness and the force required to shift the plate against the restraining action of the swage connection. It is found that a swaged joint is dynamically equivalent to a simple support with the rotation elastically restrained and a small stiffness is enough to resist an important load. © 2011 Elsevier Ltd. All rights reserved.

Parameters identification by a single point free response measurement

When a thin rectangular plate is restrained on the two long edges and free on the remaining edges, the equivalent stiffness of the restraining joints can be identified by the order of the natural frequencies obtained using the free response of the plate at a single location. This work presents a method to identify the equivalent stiffness of the restraining joints, being represented as simply supporting the plate but elastically restraining it in rotation. An integral transform is used to map the autospectrum of the free response from the frequency domain to the stiffness domain in order to identify the equivalent torsional stiffness of the restrained edges of the plate and also the order of natural frequencies. The kernel of the integral transform is built interpolating data from a finite element model of the plate. The method introduced in this paper can also be applied to plates or shells with different shapes and boundary conditions. © 2011 Elsevier Ltd. All rights reserved.

The use of centrifuge tests in the study of arching

The horizontal arching mechanism transfers horizontal earth pressures acting on flexible retaining wall panels to stiffer neighbouring elements via soil shear stresses. In this research, the horizontal arching mechanism and lateral displacements of fixed cantilever walls in a model basement are investigated using centrifuge tests. A series of six tests was carried out at 45 gravities where the panel widths and thicknesses around the model basement were varied, so that the effects of panel geometry and stiffness on horizontal arching could be studied. It is shown that panel crest displacements and base bending moments of the most flexible, narrow panels can be an order of magnitude smaller than conventional active earth pressure calculations would allow. It is suggested that the reduction of earth pressure acting on a panel is directly correlated to the mobilized soil shear strength and hence, soil shear strain. Earth pressure coefficients K are plotted against panel displacements normalized by the panel width, u/B, to simulate the reduction of K with increasing soil strain.An idealized K-u/B curve is introduced, characterised by a reference distortion (u/B) ref beyond which fully plastic soil arching can be inferred, and which is related to the corresponding reference shear strain γ ref at which soil strength is fully mobilized in element tests. © 2006 Taylor & Francis Group, London.

Discrete element calculations of the impact of a sand column against rigid structures

Discrete particle simulations of column of an aggregate of identical particles impacting a rigid, fixed target and a rigid, movable target are presented with the aim to understand the interaction of an aggregate of particles upon a structure. In most cases the column of particles is constrained against lateral expansion. The pressure exerted by the particles upon the fixed target (and the momentum transferred) is independent of the co-efficient of restitution and friction co-efficient between the particles but are strongly dependent upon the relative density of the particles in the column. There is a mild dependence on the contact stiffness between the particles which controls the elastic deformation of the densified aggregate of particles. In contrast, the momentum transfer to a movable target is strongly sensitive to the mass ratio of column to target. The impact event can be viewed as an inelastic collision between the sand column and the target with an effective co-efficient of restitution between 0 and 0.35 depending upon the relative density of the column. We present a foam analogy where impact of the aggregate of particles can be modelled by the impact of an equivalent foam projectile. The calculations on the equivalent projectile are significantly less intensive computationally and yet give predictions to within 5% of the full discrete particle calculations. They also suggest that "model" materials can be used to simulate the loading by an aggregate of particles within a laboratory setting. © 2012 Elsevier Ltd. All rights reserved.

Perceptual thresholds for acoustical guitar models

Synthesised acoustic guitar sounds based on a detailed physical model are used to provide input for psychoacoustical testing. Thresholds of perception are found for changes in the main parameters of the model. Using a three-alternative forced-choice procedure, just-noticeable differences are presented for changes in frequency and damping of the modes of the guitar body, and also for changes in the tension, bending stiffness and damping parameters of the strings. These are compared with measured data on the range of variation of these parameters in a selection of guitars. © S. Hirzel Verlag © EAA.

Branching toughens fibrous networks.

Fibrous collagenous networks are not only stiff but also tough, due to their complex microstructures. This stiff yet tough behavior is desirable for both medical and military applications but it is difficult to reproduce in engineering materials. While the nonlinear hyperelastic behavior of fibrous networks has been extensively studied, the understanding of toughness is still incomplete. Here, we identify a microstructure mimicking the branched bundles of a natural type I collagen network, in which partially cross-linked long fibers give rise to novel combinations of stiffness and toughness. Finite element analysis shows that the stiffness of fully cross-linked fibrous networks is amplified by increasing the fibril length and cross-link density. However, a trade-off of such stiff networks is reduced toughness. By having partially cross-linked networks with long fibrils, the networks have comparable stiffness and improved toughness as compared to the fully cross-linked networks. Further, the partially cross-linked networks avoid the formation of kinks, which cause fibril rupture during deformation. As a result, the branching allows the networks to have stiff yet tough behavior.