Identification of two-dimensional pantographic structure via a linear D4 orthotropic second gradient elastic model

A linear elastic second gradient orthotropic two-dimensional solid that is invariant under (Formula presented.) rotation and for mirror transformation is considered. Such anisotropy is the most general for pantographic structures that are composed of two identical orthogonal families of fibers. It is well known in the literature that the corresponding strain energy depends on nine constitutive parameters: three parameters related to the first gradient part of the strain energy and six parameters related to the second gradient part of the strain energy. In this paper, analytical solutions for simple problems, which are here referred to the heavy sheet, to the nonconventional bending, and to the trapezoidal cases, are developed and presented. On the basis of such analytical solutions, gedanken experiments were developed in such a way that the whole set of the nine constitutive parameters is completely characterized in terms of the materials that the fibers are made of (i.e., of the Young’s modulus of the fiber materials), of their cross sections (i.e., of the area and of the moment of inertia of the fiber cross sections), and of the distance between the nearest pivots. On the basis of these considerations, a remarkable form of the strain energy is derived in terms of the displacement fields that closely resembles the strain energy of simple Euler beams. Numerical simulations confirm the validity of the presented results. Classic bone-shaped deformations are derived in standard bias numerical tests and the presence of a floppy mode is also made numerically evident in the present continuum model. Finally, we also show that the largeness of the boundary layer depends on the moment of inertia of the fibers

Measurements by A LEAP-Based Virtual Glove for the hand rehabilitation

Hand rehabilitation is fundamental after stroke or surgery. Traditional rehabilitation requires a therapist and implies high costs, stress for the patient, and subjective evaluation of the therapy effectiveness. Alternative approaches, based on mechanical and tracking-based gloves, can be really effective when used in virtual reality (VR) environments. Mechanical devices are often expensive, cumbersome, patient specific and hand specific, while tracking-based devices are not affected by these limitations but, especially if based on a single tracking sensor, could suffer from occlusions. In this paper, the implementation of a multi-sensors approach, the Virtual Glove (VG), based on the simultaneous use of two orthogonal LEAP motion controllers, is described. The VG is calibrated and static positioning measurements are compared with those collected with an accurate spatial positioning system. The positioning error is lower than 6 mm in a cylindrical region of interest of radius 10 cm and height 21 cm. Real-time hand tracking measurements are also performed, analysed and reported. Hand tracking measurements show that VG operated in real-time (60 fps), reduced occlusions, and managed two LEAP sensors correctly, without any temporal and spatial discontinuity when skipping from one sensor to the other. A video demonstrating the good performance of VG is also collected and presented in the Supplementary Materials. Results are promising but further work must be done to allow the calculation of the forces exerted by each finger when constrained by mechanical tools (e.g., peg-boards) and for reducing occlusions when grasping these tools. Although the VG is proposed for rehabilitation purposes, it could also be used for tele-operation of tools and robots, and for other VR applications

A real time classification algorithm for EEG-based BCI driven by self-induced emotions

Background and objective: The aim of this paper is to provide an efficient, parametric, general, and completely automatic real time classification method of electroencephalography (EEG) signals obtained from self-induced emotions. The particular characteristics of the considered low-amplitude signals (a self-induced emotion produces a signal whose amplitude is about 15% of a really experienced emotion) require exploring and adapting strategies like the Wavelet Transform, the Principal Component Analysis (PCA) and the Support Vector Machine (SVM) for signal processing, analysis and classification. Moreover, the method is thought to be used in a multi-emotions based Brain Computer Interface (BCI) and, for this reason, an ad hoc shrewdness is assumed. Method: The peculiarity of the brain activation requires ad-hoc signal processing by wavelet decomposition, and the definition of a set of features for signal characterization in order to discriminate different self-induced emotions. The proposed method is a two stages algorithm, completely parameterized, aiming at a multi-class classification and may be considered in the framework of machine learning. The first stage, the calibration, is off-line and is devoted at the signal processing, the determination of the features and at the training of a classifier. The second stage, the real-time one, is the test on new data. The PCA theory is applied to avoid redundancy in the set of features whereas the classification of the selected features, and therefore of the signals, is obtained by the SVM. Results: Some experimental tests have been conducted on EEG signals proposing a binary BCI, based on the self-induced disgust produced by remembering an unpleasant odor. Since in literature it has been shown that this emotion mainly involves the right hemisphere and in particular the T8 channel, the classification procedure is tested by using just T8, though the average accuracy is calculated and reported also for the whole set of the measured channels. Conclusions: The obtained classification results are encouraging with percentage of success that is, in the average for the whole set of the examined subjects, above 90%. An ongoing work is the application of the proposed procedure to map a large set of emotions with EEG and to establish the EEG headset with the minimal number of channels to allow the recognition of a significant range of emotions both in the field of affective computing and in the development of auxiliary communication tools for subjects affected by severe disabilities

Variational methods in continuum damage and fracture mechanics

Damage is defined as the loss of material stiffness under loading conditions. This process is intrinsically irreversible and, therefore, dissipative. When the stiffness vanishes, fracture is achieved. In order to derive governing equations, variationalmethods have been employed. Standard variational methods for non-dissipative sys-tems are here formulated in order to contemplate dissipative systems as the onesconsidered in continuum damage mechanics

Gedanken experiments for the determination of two-dimensional linear second gradient elasticity coefficients

In the present paper, a two-dimensional solid consisting of a linear elastic isotropic material, for which the deformation energy depends on the second gradient of the displacement, is considered. The strain energy is demonstrated to depend on 6 constitutive parameters: the 2 Lam´e constants (λ and μ) and 4 more parameters (instead of 5 as it is in the 3D-case). Analytical solutions for classical problems such as heavy sheet, bending and flexure are provided. The idea is very simple: The solutions of the corresponding problem of first gradient classical case are imposed, and the corresponding forces, double forces and wedge forces are found. On the basis of such solutions, a method is outlined, which is able to identify the six constitutive parameters. Ideal (or Gedanken) experiments are designed in order to write equations having as unknowns the six constants and as known terms the values of suitable experimental measurements

The RD53 Collaboration's SystemVerilog-UVM Simulation Framework and its General Applicability to Design of Advanced Pixel Readout Chips

The foreseen Phase 2 pixel upgrades at the LHC have very challenging requirements for the design of hybrid pixel readout chips. A versatile pixel simulation platform is as an essential development tool for the design, verification and optimization of both the system architecture and the pixel chip building blocks (Intellectual Properties, IPs). This work is focused on the implemented simulation and verification environment named VEPIX53, built using the SystemVerilog language and the Universal Verification Methodology (UVM) class library in the framework of the RD53 Collaboration. The environment supports pixel chips at different levels of description: its reusable components feature the generation of different classes of parameterized input hits to the pixel matrix, monitoring of pixel chip inputs and outputs, conformity checks between predicted and actual outputs and collection of statistics on system performance. The environment has been tested performing a study of shared architectures of the trigger latency buffering section of pixel chips. A fully shared architecture and a distributed one have been described at behavioral level and simulated; the resulting memory occupancy statistics and hit loss rates have subsequently been compared.Comment: 15 pages, 10 figures (11 figure files), submitted to Journal of Instrumentatio

A 1D continuum model for beams with pantographic microstructure: asymptotic micro-macro identification and numerical results

In the standard asymptotic micro-macro identification theory, starting from a De Saint-Venant cylinder, it is possible to prove that, in the asymptotic limit, only flexible, inextensible, beams can be obtained at the macro-level. In the present paper we address the following problem: is it possible to find a microstructure producing in the limit, after an asymptotic micro-macro identification procedure, a continuum macro-model of a beam which can be both extensible and flexible? We prove that under certain hypotheses, exploiting the peculiar features of a pantographic microstructure, this is possible. Among the most remarkable features of the resulting model we find that the deformation energy is not of second gradient type only because it depends, like in the Euler beam model, upon the Lagrangian curvature, i.e. the projection of the second gradient of the placement function upon the normal vector to the deformed line, but also because it depends upon the projection of the second gradient of the placement on the tangent vector to the deformed line, which is the elongation gradient. Thus, a richer set of boundary conditions can be prescribed for the pantographic beam model. Phase transition and elastic softening are exhibited as well. Using the resulting planar 1D continuum limit homogenized macro-model, by means of FEM analyses, we show some equilibrium shapes exhibiting highly non-standard features. Finally, we conceive that pantographic beams may be used as basic elements in double scale metamaterials to be designed in future