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Register a new userA resistive force model of legged locomotion on granular media
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Compared to agile legged animals, wheeled and tracked vehicles often suffer large performance loss on granular surfaces like sand and gravel. Understanding the mechanics of legged locomotion on granular media can aid the development of legged robots with improved mobility on granular surfaces; however, no general force model yet exists for granular media to predict ground reaction forces during complex limb intrusions. Inspired by a recent study of sand-swimming, we develop a resistive force model in the vertical plane for legged locomotion on granular media. We divide an intruder of complex morphology and kinematics, e.g., a bio-inspired robot L-leg rotated through uniform granular media (loosely packed ~ 1 mm diameter poppy seeds), into small segments, and measure stresses as a function of depth, orientation, and direction of motion using a model leg segment. Summation of segmental forces over the intruder predicts the net forces on both an L-leg and a reversed L-leg rotated through granular media with better accuracy than using simple one-dimensional penetration and drag force models. A multi-body dynamic simulation using the resistive force model predicts the speeds of a small legged robot (15 cm, 150 g) moving on granular media using both L-legs and reversed L-legs.
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Granular media (GM) present locomotor challenges for terrestrial and extraterrestrial devices because they can flow and solidify in response to localized intrusion of wheels, limbs, and bodies. While the development of airplanes and submarines is aided by understanding of hydrodynamics, fundamental theory does not yet exist to describe the complex interactions of locomotors with GM. In this paper, we use experimental, computational, and theoretical approaches to develop a terramechanics for bio-inspired locomotion in granular environments. We use a fluidized bed to prepare GM with a desired global packing fraction, and use empirical force measurements and the Discrete Element Method (DEM) to elucidate interaction mechanics during locomotion-relevant intrusions in GM such as vertical penetration and horizontal drag. We develop a resistive force theory (RFT) to account for more complex intrusions. We use these force models to understand the locomotor performance of two bio-inspired robots moving on and within GM.
In the emerging field of 3D bioprinting, cell damage due to large deformations is considered a main cause for cell death and loss of functionality inside the printed construct. Those deformations, in turn, strongly depend on the mechano-elastic response of the cell to the hydrodynamic stresses experienced during printing. In this work, we present a numerical model to simulate the deformation of biological cells in arbitrary three-dimensional flows. We consider cells as an elastic continuum according to the hyperelastic Mooney-Rivlin model. We then employ force calculations on a tetrahedralized volume mesh. To calibrate our model, we perform a series of FluidFM(R) compression experiments with REF52 cells demonstrating that all three parameters of the Mooney-Rivlin model are required for a good description of the experimental data at very large deformations up to 80%. In addition, we validate the model by comparing to previous AFM experiments on bovine endothelial cells and artificial hydrogel particles. To investigate cell deformation in flow, we incorporate our model into Lattice Boltzmann simulations via an Immersed-Boundary algorithm. In linear shear flows, our model shows excellent agreement with analytical calculations and previous simulation data.
In the present letter a method to find a proper expression for the force distribution inside a granular sample in static equilibrium is proposed. The method is based in statistical mechanics and the force distribution is obtained by studying how the potential elastic energy is divided among the different contacts between grains. It is found with DEM simulations with spheres that the elastic potential energy distribution follows a Bose Einstein law from which the force distribution is deduced. The present letter open a way in which granular materials can be studied with the tools provided by statistical mechanics.
The coupled mechanics of fluid-filled granular media controls the behavior of many natural systems such as saturated soils, fault gouge, and landslides. The grain motion and the fluid pressure influence each other: It is well established that when the fluid pressure rises, the shear resistance of fluid-filled granular systems decreases, and as a result catastrophic events such as soil liquefaction, earthquakes, and accelerating landslides may be triggered. Alternatively, when the pore pressure drops, the shear resistance of these systems increases. Despite the great importance of the coupled mechanics of grains-fluid systems, the basic physics that controls this coupling is far from understood. We developed a new multi-scaled model based on the discrete element method, coupled with a continuum model of fluid pressure, to explore this dynamical system. The model was shown recently to capture essential feedbacks between porosity changes arising from rearrangement of grains, and local pressure variations due to changing pore configurations. We report here new results from numerical experiments of a continuously shearing layer of circular two-dimensional grains, trapped between two parallel rough boundaries. The experiments use a fixed confining stress on the boundary walls, and a constant velocity applied to one of the boundaries, as if this system was the interior of a sliding geological fault filled with fault gouge. In addition, we control the layer permeability and the drainage boundary conditions. This paper presents modeling results showing that the localization of shear (into a narrow shear band within the shearing layer) is strongly affected by the presence of fluids. While in dry granular layers there is no preferred position for the onset of localization, drained systems tend to localize shear on their boundary. We propose a scaling argument to describe the pressure deviations in a shear band, and use that to predict the allowable positions of shear localizations as a function of the fault and gouge properties.
Liquid-liquid phase separation occurs not only in bulk liquid, but also on surfaces. In physiology, the nature and function of condensates on cellular structures remain unexplored. Here, we study how the condensed protein TPX2 behaves on microtubules to initiate branching microtubule nucleation, which is critical for spindle assembly in eukaryotic cells. Using fluorescence, electron, and atomic force microscopies and hydrodynamic theory, we show that TPX2 on a microtubule reorganizes according to the Rayleigh-Plateau instability, like dew droplets patterning a spider web. After uniformly coating microtubules, TPX2 forms regularly spaced droplets from which branches nucleate. Droplet spacing increases with greater TPX2 concentration. A stochastic model shows that droplets make branching nucleation more efficient by confining the space along the microtubule where multiple necessary factors colocalize to nucleate a branch.
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