Quantifying the Evolutionary Self Structuring of Embodied Cognitive Networks

We outline a possible theoretical framework for the quantitative modeling of networked embodied cognitive systems. We notice that: 1) information self structuring through sensory-motor coordination does not deterministically occur in Rn vector space, a generic multivariable space, but in SE(3), the group structure of the possible motions of a body in space; 2) it happens in a stochastic open ended environment. These observations may simplify, at the price of a certain abstraction, the modeling and the design of self organization processes based on the maximization of some informational measures, such as mutual information. Furthermore, by providing closed form or computationally lighter algorithms, it may significantly reduce the computational burden of their implementation. We propose a modeling framework which aims to give new tools for the design of networks of new artificial self organizing, embodied and intelligent agents and the reverse engineering of natural ones. At this point, it represents much a theoretical conjecture and it has still to be experimentally verified whether this model will be useful in practice.

Design, fabrication and control of soft robots

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.National Science Foundation (U.S.) (Grant IIS-1226883

Elastic-wave identification of penetrable obstacles using shape-material sensitivity framework

This study deals with elastic-wave identification of discrete heterogeneities (inclusions) in an otherwise homogeneous ``reference'' solid from limited-aperture waveform measurements taken on its surface. On adopting the boundary integral equation (BIE) framework for elastodynamic scattering, the inverse query is cast as a minimization problem involving experimental observations and their simulations for a trial inclusion that is defined through its boundary, elastic moduli, and mass density. For an optimal performance of the gradient-based search methods suited to solve the problem, explicit expressions for the shape (i.e. boundary) and material sensitivities of the misfit functional are obtained via the adjoint field approach and direct differentiation of the governing BIEs. Making use of the message-passing interface, the proposed sensitivity formulas are implemented in a data-parallel code and integrated into a nonlinear optimization framework based on the direct BIE method and an augmented Lagrangian whose inequality constraints are employed to avoid solving forward scattering problems for physically inadmissible (or overly distorted) trial inclusion configurations. Numerical results for the reconstruction of an ellipsoidal defect in a semi-infinite solid show the effectiveness of the proposed shape-material sensitivity formulation, which constitutes an essential computational component of the defect identification algorithm

Application of general semi-infinite Programming to Lapidary Cutting Problems

We consider a volume maximization problem arising in gemstone cutting industry. The problem is formulated as a general semi-infinite program (GSIP) and solved using an interiorpoint method developed by Stein. It is shown, that the convexity assumption needed for the convergence of the algorithm can be satisfied by appropriate modelling. Clustering techniques are used to reduce the number of container constraints, which is necessary to make the subproblems practically tractable. An iterative process consisting of GSIP optimization and adaptive refinement steps is then employed to obtain an optimal solution which is also feasible for the original problem. Some numerical results based on realworld data are also presented

A multibody approach to the contact dynamics: a knee joint application

In this thesis, a general approach for dynamic analysis of multibody systems with contact is presented, being a special attention given to the articular contact at the human knee joint. Two methodologies, in two- and three-dimensions, for knee contact modeling are proposed under the framework of multibody systems using generalized Cartesian coordinates. The development of the planar multibody knee model encompasses four steps: (i) geometrical representation of contacting profiles by means of curve fitting techniques based on spline interpolation functions; (ii) location of contact points and evaluation of the contact indentation; (iii) calculation of the contact forces by using an appropriate constitutive law; (iv) description of the ligament behavior by a quadratic stress-strain relation. The motion of the tibia relative to the femur is modeled combining the action of the knee ligaments with the potential contacts between the bones. The contact forces, together with the forces produced by the ligaments, are introduced into the Newton-Euler equations of motion as external generalized forces. Within the three-dimensional methodology, the contact surfaces are described by means of point-clouds extracted from parametric representations. The spatial formulation presents a pre-processing unit. This preprocessor allows for a significantly reduction of the amount of memory required for data storage and an improvement of the computational efficiency of the contact detection process. Computational simulations were performed with the aim of validating both proposed approaches, two-dimensional and three-dimensional. The behavior of the planar knee model resultant of the application of different contact force laws was studied. Moreover, the influence of the geometric and material properties on the dynamic response of the knee joint model was investigated. In a broad sense, the proposed methodologies demonstrated to be suitable for the analysis of the dynamic behavior of multibody models with contact, especially those biological systems such as the knee joint that involve complex geometries, a large range of motion and high dynamic loads.Nesta tese é proposta uma abordagem genérica para a análise dinâmica de sistemas de corpos múltiplos com contacto, dando um especial enfoque ao contacto articular no joelho humano. No âmbito da dinâmica de sistemas de corpos múltiplos são apresentadas duas metodologias, bidimensional e tridimensional, para a modelação do contacto no joelho usando coordenadas cartesianas generalizadas. O desenvolvimento do modelo bidimensional do joelho engloba quatro etapas: (i) representação geométrica dos perfis de contacto por meio de técnicas de ajuste de curva com base em funções de interpolação por splines, (ii) localização dos pontos de contacto e avaliação da indentação de contacto, (iii) cálculo das forças de contacto usando uma lei constitutiva apropriada, (iv) descrição do comportamento dos ligamentos através de uma relação quadrática de tensão-deformação. O movimento da tíbia em relação ao fémur é modelado como uma acção combinada entre os ligamentos do joelho e os potenciais contactos entre os ossos. As forças de contacto, juntamente com as forças produzidas pelos ligamentos, são introduzidas nas equações de movimento de Newton-Euler como forças externas generalizadas. Na metodologia tridimensional, as superfícies de contacto são descritas por meio de nuvens de pontos extraídas de representações paramétricas. No âmbito da formulação tridimensional é apresentada uma unidade de pré-processamento. Este pré-processador permite uma redução significativa da quantidade de memória necessária para o armazenamento de dados e, desta forma, melhora a eficiência computacional do algoritmo de deteção de contacto. Com o objetivo de validar as metodologias propostas, realizaram-se várias simulações computacionais. Os comportamentos do modelo bidimensional do joelho resultantes da aplicação de diferentes leis de força de contacto foram estudados. A influência das propriedades geométricas e de material na resposta dinâmica do modelo bidimensional do joelho foi investigada. De uma forma geral, as metodologias propostas demonstraram ser adequadas para a análise do comportamento dinâmico de modelos de corpos múltiplos com contacto, especialmente sistema biológicos, como o joelho humano, que envolvem geometrias complexas, uma grande amplitude de movimentos e elevadas cargas dinâmicas

Biomechanics

Biomechanics is a vast discipline within the field of Biomedical Engineering. It explores the underlying mechanics of how biological and physiological systems move. It encompasses important clinical applications to address questions related to medicine using engineering mechanics principles. Biomechanics includes interdisciplinary concepts from engineers, physicians, therapists, biologists, physicists, and mathematicians. Through their collaborative efforts, biomechanics research is ever changing and expanding, explaining new mechanisms and principles for dynamic human systems. Biomechanics is used to describe how the human body moves, walks, and breathes, in addition to how it responds to injury and rehabilitation. Advanced biomechanical modeling methods, such as inverse dynamics, finite element analysis, and musculoskeletal modeling are used to simulate and investigate human situations in regard to movement and injury. Biomechanical technologies are progressing to answer contemporary medical questions. The future of biomechanics is dependent on interdisciplinary research efforts and the education of tomorrow’s scientists

Piezo-electromechanical smart materials with distributed arrays of piezoelectric transducers: Current and upcoming applications

This review paper intends to gather and organize a series of works which discuss the possibility of exploiting the mechanical properties of distributed arrays of piezoelectric transducers. The concept can be described as follows: on every structural member one can uniformly distribute an array of piezoelectric transducers whose electric terminals are to be connected to a suitably optimized electric waveguide. If the aim of such a modification is identified to be the suppression of mechanical vibrations then the optimal electric waveguide is identified to be the 'electric analog' of the considered structural member. The obtained electromechanical systems were called PEM (PiezoElectroMechanical) structures. The authors especially focus on the role played by Lagrange methods in the design of these analog circuits and in the study of PEM structures and we suggest some possible research developments in the conception of new devices, in their study and in their technological application. Other potential uses of PEMs, such as Structural Health Monitoring and Energy Harvesting, are described as well. PEM structures can be regarded as a particular kind of smart materials, i.e. materials especially designed and engineered to show a specific andwell-defined response to external excitations: for this reason, the authors try to find connection between PEM beams and plates and some micromorphic materials whose properties as carriers of waves have been studied recently. Finally, this paper aims to establish some links among some concepts which are used in different cultural groups, as smart structure, metamaterial and functional structural modifications, showing how appropriate would be to avoid the use of different names for similar concepts. © 2015 - IOS Press and the authors

Astigmatism and Pseudoaccommodation in Pseudophakic Eyes

noAdvanced IOLs with circumferential zones of different power provide pseudoaccommodation. We investigated the potential for power variation with meridian, namely astigmatism, to provide pseudo-accommodation. With appropriate power and axis orientations, acceptable pseudo-accommodation can be achieved