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physics-based modeling of twisted and coiled artificial muscles (TCAMs) for soft robotics using extended Cosserat theory of rods

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SMART MATERIALS AND STRUCTURES 2025年第4期34卷 045015-045015页

作者： Golestaneh, Amirreza Fahim Cichella, Venanzio Lamuta, Caterina Univ Iowa Dept Mech Engn Iowa City IA 52242 USA

The current work develops a physics-based model for twisted and coiled artificial muscles (TCAMs) using the extended Cosserat theory of rods. These artificial muscles are lightweight and low-cost, generating a high power-to-weight ratio. They produce tensile forces up to 12 600 times their own weight, closely mimicking the functionality of biological muscles. The contraction of these muscles is driven by the anisotropic volume expansion of their twisted fibers, induced by deformation of the fibers' cross-section. Unlike prior models, this study implements the extended Cosserat theory, which models not only rigid rotations (like standard Cosserat theory) but also planar anisotropic deformation of the TCAMs' cross-section. The static deformation and dynamic motion of TCAMs are formulated herein. The governing equations for the bulk deformation of TCAMs are derived through standard Cosserat rod theory, while a continuum mechanics approach is utilized to model the cross-sectional deformation. The Bernstein polynomial method is applied to discretize the continuous formulations, enabling numerical solutions to the problem. Experimental datasets are used for evaluation of the models.

关键词： physics-based modeling extended Cosserat theory of rods continuum mechanics soft robotics twisted and coiled artificial muscles (TCAMs) Bernstein polynomials

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physics-based modeling and Simulation for Motional Cable Harness Design

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 1075-1082页

作者： LIU Jianhua ZHAO Tao NING Ruxin LIU Jiashun School of Mechanical Engineering Beijing Institute of Technology

The design work of motional cable in products is vital due to the difficulty in estimating the potential issues in current *** this paper,a physics-based modeling and simulation method for the motional cable harness design is *** model,based on continuum mechanics,is established by analyzing the force of microelement in *** the analysis procedure,three coordinate systems：inertial,Frenet and main-axis coordinate systems are *** variable substitution and dimensionless processing,the equation set is discretized by differential quadrature method and subsequently becomes an overdetermined nonlinear equation set with boundary conditions solved by Levenberg-Marquardt *** the profile of motional cable harness obtained from the integral of arithmetic solution,a motion simulation system based on＂path＂and＂profile＂as well as the experimental equipments is *** the same parameters as input for the simulation and the real cable harness correspondingly,the issue in designing,such as collision,can be easily found by the simulation *** research obtains a better result which has no potential collisions by redesign,and the proposed method can be used as an accurate and efficient way in motional cable harness design work.

关键词： motional cable harness physics-based modeling motion simulation Kirchhoff rod

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physics-based modeling of Parasitic Capacitance in Medium-Voltage Filter Inductors

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2021年第1期36卷 829-843页

作者： Zhao, Hongbo Dalal, Dipen Narendra Bjorn Jorgensen, Asger Jorgensen, Jannick Kjar Wang, Xiongfei Beczkowski, Szymon Munk-Nielsen, Stig Uhrenfeldt, Christian Aalborg Univ Dept Energy Technol DK-9220 Aalborg Denmark

This article proposes a general physics-based model for identifying the parasitic capacitance in medium-voltage (MV) filter inductors, which can provide analytical calculations without using empirical equations and is not restricted by the geometrical structures of inductors. The elementary capacitances of the MV inductor are identified, then the equivalent capacitances between the two terminals of the inductor are derived under different voltage potential on the core. Further, a three-terminal equivalent circuit, instead of the conventional two-terminal equivalent circuit, is proposed by using the derived capacitances. Thus, the parasitic equivalent capacitance between the terminals and the core are explicitly quantified. Experimental measurements for parasitic capacitances show a good agreement with the theoretical calculations.

关键词： Inductors Capacitance Couplings Mathematical model Solid modeling Integrated circuit modeling Windings Filter inductors medium-voltage (MV) parasitic capacitance physics-based modeling three-terminal equivalent circuit

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physics-based modeling and multi-objective parameter optimization of excitation coil for giant magnetostrictive actuator used on fuel injector

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MEASUREMENT & CONTROL 2022年第5-6期55卷 421-436页

作者： Rong, Ce He, Zhongbo Xue, Guangming Zhou, Jingtao Zhao, Zhenglong Army Engn Univ Dept Vehicle & Elect Engn Shijiazhuang Campus97 Heping West Rd Shijiazhuang 050003 Hebei Peoples R China Troop 63969 Anhuaicun452Anhuai Rd Nanjing 210028 Peoples R China High Tech Inst Qingzhou Peoples R China

Serving as one of the core component, the excitation coil can exert remarkable influence on the output performance of giant magnetostrictive actuator (GMA) for electronic controlled fuel injector. In this paper, a multi-objective coil optimization scheme is proposed to balance the conflicting response speed and magnetic field intensity determined by the coil parameters. Firstly, a physics-based coil model is established for optimization, whose parameters can be directly calculated by the coil dimensions. Then, with the current response of the coil calculated, a multi-objective optimization framework is conducted attempting to get the selection guideline for the enameled wire diameter of the coil. The optimal choices exist when the outer diameter of the enameled wire falls in 0.9 similar to 1.6 mm, and the inner/outer diameter ratio is relatively high. Finally, a series of experiments are conducted and the results indicate that the proposed model is able to accurately describe the current response throughout the operating frequencies, and the optimization scheme can provide a valuable roadmap to design coil for high performance GMA.

关键词： physics-based modeling giant magnetostrictive actuator electronic controlled injector excitation coil model current response multi-objective optimization

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physics-based modeling and Scalable Optimization of Large Intelligent Reflecting Surfaces

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IEEE TRANSACTIONS ON COMMUNICATIONS 2021年第4期69卷 2673-2691页

作者： Najafi, Marzieh Jamali, Vahid Schober, Robert Poor, H. Vincent Univ Erlangen Nurnberg Inst Digital Commun D-91058 Erlangen Germany Princeton Univ Dept Elect Engn Princeton NJ 08544 USA

Intelligent reflecting surfaces (IRSs) have the potential to transform wireless communication channels into smart reconfigurable propagation environments. To realize this new paradigm, the passive IRSs have to be large, especially for communication in far-field scenarios, so that they can compensate for the large end-to-end path-loss, which is caused by the multiplication of the individual path-losses of the transmitter-to-IRS and IRS-to-receiver channels. However, optimizing a large number of sub-wavelength IRS elements imposes a significant challenge for online transmission. To address this issue, in this article, we develop a physics-based model and a scalable optimization framework for large IRSs. The basic idea is to partition the IRS unit cells into several subsets, referred to as tiles, model the impact of each tile on the wireless channel, and then optimize each tile in two stages, namely an offline design stage and an online optimization stage. For physics-based modeling, we borrow concepts from the radar literature, model each tile as an anomalous reflector, and derive its impact on the wireless channel for a given phase shift by solving the corresponding integral equations for the electric and magnetic vector fields. In the offline design stage, the IRS unit cells of each tile are jointly designed for the support of different transmission modes, where each transmission mode effectively corresponds to a given configuration of the phase shifts that the unit cells of the tile apply to an impinging electromagnetic wave. In the online optimization stage, the best transmission mode of each tile is selected such that a desired quality-of-service (QoS) criterion is maximized. We consider an exemplary downlink system and study the minimization of the base station (BS) transmit power subject to QoS constraints for the users. Since the resulting mixed-integer programming problem for joint optimization of the BS beamforming vectors and the tile transmission modes is

关键词： Optimization Wireless communication Receivers Surface waves Quality of service Solid modeling Radar cross-sections Intelligent reflecting surfaces (IRSs) physics-based modeling two-stage optimization anamolous reflection codebook design

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physics-based modeling of a chain continuously variable transmission

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MECHANISM AND MACHINE THEORY 2016年第0期105卷 397-408页

作者： Duan, Chengwu Hebbale, Kumar Liu, Fengyu Yao, Jian Gen Motors Global Res & Dev Detroit MI 48232 USA

This paper focuses on a physics-based model of a chain CVT. The study starts from kinematics of an infinitely small chain segment, and then investigates the fundamental dynamics of the chain segment. A speed-dependent continuous friction model is employed that accounts for both micro-slip and macro-slip conditions. Pulley axial dynamics is studied and is coupled with chain segment radial movement. The classical pulley deformation (Sattler's model) is included in the model. Simulation results show that pulley deformation plays an important role in defining the chain CVT dynamics. Unlike a rigid pulley, sliding angle with a deformable pulley is not a constant. Internal forces like chain tension and normal contact force are not monotonic function of angular position within the wrap. The simulation results compare well, qualitatively and quantitatively, with data published in literature and clamp force ratio (KpKs) values from dynamometer testing. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Continuously variable transmission physics-based modeling Chain CVT Steady-state and transient dynamics Speed-dependent friction

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physics-based modeling of metal additive manufacturing processes: a review

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2024年第1-2期134卷 1-13页

作者： Xu, Shuozhi Araghi, Mohammad Younes Su, Yanqing Univ Oklahoma Sch Aerosp & Mech Engn Norman OK 73019 USA Utah State Univ Dept Mech & Aerosp Engn Logan UT USA

In the modern world, the ubiquity and critical importance of metallic materials are evident in everything from infrastructure and transportation to electronics and aerospace. Additive manufacturing (AM) of metals has revolutionized traditional production methods by enabling the creation of high-value components with topologically optimized complex geometries and functionalities. This review addresses the critical need for sophisticated physics-based models to investigate and optimize the AM processes of metals. We explore both melt-based and solid-state AM techniques, highlighting the current state-of-the-art modeling approaches. The purpose of this review is to evaluate existing models, identify their strengths and limitations, and suggest areas for future research to enhance the predictability and optimization of AM processes. By summarizing and comparing various modeling techniques, this review aims to provide a comprehensive understanding of the current research landscape. We focus on the pros and cons of different models, including their applicability to key elements and processes common to both melt-based and solid-state AM methods. Where multiple models exist for a single technique, a comparison is drawn to highlight their relative pros and cons. Concluding this review, we contemplate prospective advancements in sophisticated physics-based process modeling and strategies for their integration with models for structure-properties relations.

关键词： Additive manufacturing physics-based modeling Metallic materials

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physics-based modeling of Aortic Wall Motion from ECG-Gated 4D Computed Tomography

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13th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI)

作者： Xiong, Guanglei Taylor, Charles A. Stanford Univ Biomed Informat Program Stanford CA 94305 USA Stanford Univ Dept Bioengn Dept Surg Stanford CA USA

ISBN: (纸本)9783642157042

Recent advances in electrocardiogram (ECG)-gated Computed Tomography (CT) technology provide 4D (3D+T) information of aortic wall motion in high spatial and temporal resolution. However, imaging artifacts, e.g. noise, partial volume effect, misregistration and/or motion blurring may preclude its usability in many applications where accuracy and reliability are concerns. Although it is possible to find correspondence through tagged MRI or echo or image registration, it may be either inconsistent to the physics or difficult to utilize data from all frames. In this paper, we propose a physics-based filtering approach to construct a dynamic model from these 4D images. It includes a state filter that corrects simulated displacements from an elastic finite element model to match observed motion from images. In the meantime, the model parameters are refined to improve the model quality by applying a parameter filter based on ensemble Kalman filtering. We evaluated the performance of our method on synthetic data where ground-truths are available. Finally, we successfully applied the method to a real data set.

关键词： physics-based modeling dynamic model aorta wall motion Kalman filtering 4DCT

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physics-based modeling for Determining Transient Current Flow In Multi-layer PCB PI Designs

Physics-Based Modeling for Determining Transient Current Flo...

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IEEE International Symposium on Electromagnetic Compatibility, Signal and Power Integrity (EMCSI)

作者： Ding, Yifan Doyle, Matthew S. Connor, Samuel Becker, Dale Drewniak, James L. Missouri Univ Sci & Technol EMC Lab Rolla MO 65401 USA IBM Corp Armonk NY 10504 USA

ISBN: (数字)9781665409292

ISBN: (纸本)9781665409292

A physics-based modeling methodology for determining the transient current flow path in multi-layer PI designs is given in this paper using a commercial board with a complicated structure as an example. Board structure analysis is done first to provide a physical basis of post-layout analytical and equivalent circuit modeling. A match of the PDN impedance between commercial tool simulation, post-layout analytical calculation, and the physics-based equivalent circuit modeling was achieved to support the model for the transient simulation. By analyzing the current response in all the vias, a clear representation of transient current flow across all via segments can be given layer-by-layer. The maximum current density in vertical vias can also be extracted in this process, providing a reference for preventing transient overcurrent design.

关键词： Power Distribution Network (PDN) physics-based modeling Transient Current Flow

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Assessment of Electron Mobility in Ultrathin-Body InGaAs-on-Insulator MOSFETs Using physics-based modeling

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IEEE TRANSACTIONS ON ELECTRON DEVICES 2012年第6期59卷 1636-1643页

作者： Poljak, Mirko Jovanovic, Vladimir Grgec, Dalibor Suligoj, Tomislav Univ Calif Los Angeles Dept Elect Engn Los Angeles CA 90095 USA Univ Zagreb Fac Elect Engn & Comp Dept Elect Microelect Comp & Intelligent Syst Zagreb 10000 Croatia Delft Univ Technol Delft Inst Microsyst & Nanoelect NL-2600 CD Delft Netherlands Polytech Zagreb Dept Informat & Comp Zagreb 10000 Croatia

We have investigated the electron mobility in ultrathin-body InGaAs-on-insulator devices using physics-based modeling that self-consistently accounts for quantum confinement and covers band-structure effects in ultrathin III-V layers. Scattering by nonpolar and polar acoustic and optical phonons, surface roughness, and thickness fluctuations, Coulomb and alloy disorder have been included in the calculations. The modeling, calibrated and verified on experimental data from the literature, has revealed a strong influence of thickness fluctuations caused by the light effective mass of G valley electrons. Our results indicate that InGaAs-on-insulator MOSFETs are more influenced by interface properties compared with silicon-on-insulator devices and outperform them only above certain body thickness that depends on interface quality.

关键词： Indium-gallium-arsenide (InGaAs) low-field mobility physics-based modeling quantum confinement ultrathin body (UTB)

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