Gradient and vorticity banding

"Banded structures" of macroscopic dimensions can be induced by simple shear flow in many different types of soft matter systems. Depending on whether these bands extend along the gradient or vorticity direction, the banding transition is referred to as "gradient banding" or "vorticity banding," respectively. The main features of gradient banding can be understood on the basis of a relatively simple constitutive equation. This minimal model for gradient banding will be discussed in some detail, and its predictions are shown to explain many of the experimentally observed features. The minimal model assumes a decrease of the shear stress of the homogeneously sheared system with increasing shear rate within a certain shear-rate interval. The possible microscopic origin of the severe shear-thinning behaviour that is necessary for the resulting nonmonotonic flow curves is discussed for a few particular systems. Deviations between experimental observations and predictions by the minimal model are due to obvious simplifications within the scope of the minimal model. The most serious simplifications are the neglect of concentration dependence of the shear stress (or on other degrees of freedom) and of the elastic contributions to the stress, normal stresses, and the possibility of shear-induced phase transitions. The consequences of coupling of stress and concentration will be analyzed in some detail. In contrast to predictions of the minimal model, when coupling to concentration is important, a flow instability can occur that does not require strong shear thinning. Gradient banding is sometimes also observed in glassy- and gel-like systems, as well as in shear-thickening systems. Possible mechanisms that could be at the origin of gradient-band formation in such systems are discussed. Gradient banding can also occur in strongly entangled polymeric systems. Banding in these systems is discussed on the basis of computer simulations. Vorticity banding is less well understood and less extensively investigated experimentally as compared to gradient banding. Possible scenarios that are at the origin of vorticity banding will be discussed. Among other systems, the observed vorticity-banding transition in rod-like colloids is discussed in some detail. It is argued, on the basis of experimental observations for these colloidal systems, that the vorticity-banding instability for such colloidal suspensions is probably related to an elastic instability, reminiscent of the Weissenberg effect in polymeric systems. This mechanism might explain vorticity banding in discontinuously shear-thickening systems and could be at work in other vorticity-banding systems as well. This overview does not include time-dependent phenomena like oscillations and chaotic behaviour

Shear-banding in a lyotropic lamellar phase, Part 2: Temporal fluctuations

We analyze the temporal fluctuations of the flow field associated to a shear-induced transition in a lyotropic lamellar phase: the layering transition of the onion texture. In the first part of this work [Salmon et al., submitted to Phys. Rev. E], we have evidenced banded flows at the onset of this shear-induced transition which are well accounted for by the classical picture of shear-banding. In the present paper, we focus on the temporal fluctuations of the flow field recorded in the coexistence domain. These striking dynamics are very slow (100--1000s) and cannot be due to external mechanical noise. Using velocimetry coupled to structural measurements, we show that these fluctuations are due to a motion of the interface separating the two differently sheared bands. Such a motion seems to be governed by the fluctuations of $\sigma^\star$, the local stress at the interface between the two bands. Our results thus provide more evidence for the relevance of the classical mechanical approach of shear-banding even if the mechanism leading to the fluctuations of $\sigma^\star$ remains unclear

Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.Comment: 21 pages, 11 figures, 4 tables in Autonomous Robots (2015

Learning-based position control of a closed-kinematic chain robot end-effector

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials

Event program

UNLV Undergraduates from all departments, programs and colleges participated in a campus-wide symposium on April 16, 2011. Undergraduate posters from all disciplines and also oral presentations of research activities, readings and other creative endeavors were exhibited throughout the festival