System Identification I

The flow of homogeneous fluids through porous media: analogies with other physical problems

Advanced Mathematical Methods for Scientists and Engineers

Capillarity and Wetting Phenomena: Drops, Bubbles, Pearls, Waves

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Electrodynamics Of Continuous Media

Viscous flows in contact with elastic structures apply both pressure and shear stress at the solid–liquid interface and thus create internal stress and deformation fields within the solid structure. We study the interaction between the deformation of elastic structures, subject to external forces, and an internal viscous liquid. We neglect inertia in the liquid and solid and focus on viscous flow through a thin-walled slender elastic cylindrical shell as a basic model of a soft robot. Our analysis yields an inhomogeneous linear diffusion equation governing the coupled viscous–elastic system. Solutions for the flow and deformation fields are obtained in closed analytical form. The functionality of the viscous–elastic diffusion process is explored within the context of soft-robotic applications, through analysis of selected solutions to the governing equation. Shell material compressibility is shown to have a unique effect in inducing different flow and deformation regimes. This research may prove valuable to applications such as micro-swimmers, micro-autonomous systems and soft robotics by allowing for the design and control of complex time-varying deformation fields.

Dynamics of viscous liquid within a closed elastic cylinder subject to external forces with application to soft robotics

A pressurized fluid-filled parallel-channel network embedded in an elastic beam, asymmetrically to the neutral plane, will create a deformation field within the beam. Deformation due to embedded fluidic networks is currently studied in the context of soft actuators and soft-robotic applications. Expanding on this concept, configurations can be designed so that the pressure in the channel network is created directly from external forces acting on the beam, and thus can be viewed as passive solid-fluid composite structures. We approximate the deformation of such structures and relate the fluid pressure and geometry of the network to a continuous deformation-field function. This enables the design of networks creating steady arbitrary deformation fields as well as to eliminate deformation created by external time-varying forces, thus increasing the effective rigidity of the beam. In addition, by including the effects of the deformation created by the channel network on the beam inertia, we can modify the response of the beam to external time-varying forces. We present a scheme to design channel networks that create predefined oscillating deformation patterns in response to external oscillating forces. The ability to include inertial effects is relevant to the design of dynamic soft robots and soft actuators. Our results are illustrated and validated by numerical computations.

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Dynamics of Elastic Beams with Embedded Fluid-Filled Parallel-Channel Networks

We examine transient axial creeping flow in the annular gap between a rigid cylinder and a concentric elastic tube. The gap is initially filled with a thin fluid layer. We employ an elastic shell model and the lubrication approximation to obtain governing equations for the elastohydrodynamic interaction. At long axial length scales viscous forces are balanced by elastic tension, while at shorter length scales the viscous–elastic balance is achieved by means of an interplay between elastic bending, tension and shear stresses. Based on a viscous gravity current analogy in the tensile–viscous regime, we devise propagation laws for displacement flows which are induced by a variety of boundary conditions and examine different limits of the prewetting thickness. Next we focus on the moving elastohydrodynamic contact line at the edge of a penetrating film. A uniform matched asymptotic solution connecting the interior tension-based region with a boundary layer region near the propagation front is presented. Finally, a constructive example is shown in which isolated moving deformation patterns are created and superimposed to form a travelling wave displacement field. The presented interaction between viscosity and elasticity may be applied to fields such as soft robotics and micro-scale or larger swimmers by allowing for the time-dependent control of an axisymmetric compliant boundary.

Axial creeping flow in the gap between a rigid cylinder and a concentric elastic tube

Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness we study the inchworm crawling of our soft robot with two bending actuators, via an articulated three-link model. The solution of statically indeterminate systems with stick-slip contact transitions requires for a novel hybrid-quasistatic analysis. Then, we utilize our analysis to investigate the influence of phase-shifted harmonic inputs on performance of crawling gaits, including sensitivity analysis to friction uncertainties and energetic cost of transport. We achieve optimal values of gait parameters. Finally, we fabricate and test a fluid-driven soft robot. The experiments display good agreement with the theoretical analysis, proving that our simple model correctly captures and explains the fundamental principles of inchworm crawling and can be applied to other soft-robotic legged robots.

Understanding Inchworm Crawling for Soft-Robotics

Elastic deformation of beam-shaped structures due to embedded fluidic networks (EFNs) is mainly studied in the context of soft actuators and soft robotic applications. Currently, the effects of viscosity are not examined in such configurations. In this work, we introduce an internal viscous flow and present the extended range of actuation modes enabled by viscosity. We analyze the interaction between elastic deflection of a slender beam and viscous flow in a long serpentine channel embedded within the beam. The embedded network is positioned asymmetrically with regard to the neutral plane and thus pressure within the channel creates a local moment deforming the beam. Under assumptions of creeping flow and small deflections, we obtain a fourth-order integro-differential equation governing the time-dependent deflection field. This relation enables the design of complex time-varying deformation patterns of beams with EFNs. Leveraging viscosity allows to extend the capabilities of beam-shaped actuato...

Amir D. Gat

Papers

Dynamics of viscous liquid within a closed elastic cylinder subject to external forces with application to soft robotics

Dynamics of Elastic Beams with Embedded Fluid-Filled Parallel-Channel Networks

Axial creeping flow in the gap between a rigid cylinder and a concentric elastic tube

Understanding Inchworm Crawling for Soft-Robotics

Leveraging Internal Viscous Flow to Extend the Capabilities of Beam-Shaped Soft Robotic Actuators