Experimental verification and practical application of torquewhirl theory of rotordynamic instability

A theory developed by Vance in 1978 to explain the destabilizing effect of torque on a whirling rotor was experimentally verified. The measurements made on a specially designed test apparatus are described. New computer models were also developed to investigate the effect of torque on rotordynamic stability of multidisk flexible rotor bearing systems. The effect of torque was found to be most pronounced when the system is already marginally stable from other influences. The modifications required to include torque in a typical shaft transfer matrix are described, and results are shown which identify the type of rotor design most sensitive to load torque

Bio-inspired Tensegrity Soft Modular Robots

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that can deform in a three-dimensional space. We also describe a tendon-driven contraction mechanism to actively control the deformation of the tensegrity mod-ules. Finally, we validate the approach in a modular locomotory worm as a proof of concept.Comment: 12 pages, 7 figures, submitted to Living Machine conference 201

A Stochastic Approach to Shortcut Bridging in Programmable Matter

In a self-organizing particle system, an abstraction of programmable matter, simple computational elements called particles with limited memory and communication self-organize to solve system-wide problems of movement, coordination, and configuration. In this paper, we consider a stochastic, distributed, local, asynchronous algorithm for "shortcut bridging", in which particles self-assemble bridges over gaps that simultaneously balance minimizing the length and cost of the bridge. Army ants of the genus Eciton have been observed exhibiting a similar behavior in their foraging trails, dynamically adjusting their bridges to satisfy an efficiency trade-off using local interactions. Using techniques from Markov chain analysis, we rigorously analyze our algorithm, show it achieves a near-optimal balance between the competing factors of path length and bridge cost, and prove that it exhibits a dependence on the angle of the gap being "shortcut" similar to that of the ant bridges. We also present simulation results that qualitatively compare our algorithm with the army ant bridging behavior. Our work gives a plausible explanation of how convergence to globally optimal configurations can be achieved via local interactions by simple organisms (e.g., ants) with some limited computational power and access to random bits. The proposed algorithm also demonstrates the robustness of the stochastic approach to algorithms for programmable matter, as it is a surprisingly simple extension of our previous stochastic algorithm for compression.Comment: Published in Proc. of DNA23: DNA Computing and Molecular Programming - 23rd International Conference, 2017. An updated journal version will appear in the DNA23 Special Issue of Natural Computin

On the rocking behavior of rigid objects

A novel formulation for the rocking motion of a rigid block on a rigid foundation is presented in this work. The traditional piecewise equations are replaced by a single ordinary differential equation. In addition, damping effects are no longer introduced by means of a coefficient of restitution but understood as the presence of impulsive forces. The agreement with the classical formalism is very good for both free rocking regime and harmonic forcing excitation

PathCluster: a framework for gene set-based hierarchical clustering

Motivation: Gene clustering and gene set-based functional analysis are widely used for the analysis of expression profiles. The development of a comprehensive method jointly combining the two methods would allow for greater biological insights

Soil texture is a stronger driver of the maize rhizosphere microbiome and extracellular enzyme activities than soil depth or the presence of root hairs

Aims Different drivers are known to shape rhizosphere microbiome assembly. How soil texture (Texture) and presence or lack of root hairs (Root Hair) of plants affect the rhizosphere microbiome assembly and soil potential extracellular enzyme activities (EEA) at defined rooting depth (Depth) is still a knowledge gap. We investigated effects of these drivers on microbial assembly in rhizosphere and on potential EEA in root-affected soil of maize. Methods Samples were taken from three depths of root hair defective mutant rth3 and wild-type WT maize planted on loam and sand in soil columns after 22 days. Rhizosphere bacterial, archaeal, fungal and cercozoan communities were analysed by sequencing of 16S rRNA gene, ITS and 18S rRNA gene fragments. Soil potential EEA of ss-glucosidase, acid phosphatase and chitinase were estimated using fluorogenic substrates. Results The bacterial, archaeal and cercozoan alpha- and beta-diversities were significantly and strongly altered by Texture, followed by Depth and Root Hair. Texture and Depth had a small impact on fungal assembly, and only fungal beta-diversity was significantly affected. Significant impacts by Depth and Root Hair on beta-diversity and relative abundances at taxonomic levels of bacteria, archaea, fungi and cercozoa were dependent on Texture. Likewise, the patterns of potential EEA followed the trends of microbial communities, and the potential EEA correlated with the relative abundances of several taxa. Conclusions Texture was the strongest driver of rhizosphere microbiome and of soil potential EEA, followed by Depth and Root Hair, similarly to findings in maize root architecture and plant gene expression studies

Modeling low energy sputtering of hexagonal boron nitride by xenon ions

The sputtering of hexagonal boron nitride due to low energy xenon ion bombardments occurs in various applications including fabrication of cubic boron nitride and erosion of Hall thruster channel walls. At low ion energies, accurate experimental characterization of sputter yields increases in difficulty due to the low yields involved. A molecular dynamics model is employed to simulate the sputtering process and to calculate sputter yields for ion energies ranging from 10 eV to 350 eV. The results are compared to experimental data and a semi-empirical expression developed by Bohdansky is found to adequately describe the simulation data. Surface temperature effects are also investigated, and the sputter yield at 850 K is approximately twice that at 423 K.Comment: 19 pages, 8 figure

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules using computationally expensive fluid dynamic modeling tools. This poses restrictions on the usability of the resulting models. Here, we present a new approach towards modeling such systems. First, we show how the hardware and firmware of the robotic modules can be faithfully modeled in a high-fidelity robotic simulator. Second, we develop a physics plugin to recreate the hydrodynamic forces acting on the modules and propose a trajectory-based method for calibrating the plugin model parameters. Our calibration method employs a Particle Swarm Optimization (PSO) algorithm, and consists of minimizing the difference between Mean Squared Displacement (MSD) data extracted from real and simulated trajectories of multiple robotic modules