Elastic Line Research Articles

Avalanche-size distribution at the depinning transition: A numerical test of the theory

We calculate numerically the sizes S of jumps (avalanches) between successively pinned configurations of an elastic line (d=1) or interface (d=2), pulled by a spring of (small) strength m^2 in a random-field landscape. We obtain strong evidence that the size distribution, away from the small-scale cutoff, takes the form P(S) = p(S/S_m) <S>/S_m^2, where S_m:=<S^2>/(2<S>), proportional to m^(-d-zeta), is the scale of avalanches, and zeta the roughness exponent at the depinning transition. Measurement of the scaling function f(s) := s^tau p(s) is compared with the predictions from a recent Functional RG (FRG) calculation, both at mean-field and one-loop level. The avalanche-size exponent tau is found in good agreement with the conjecture tau = 2- 2/(d+zeta), recently confirmed to one loop via the FRG. The function f(s) exhibits a shoulder and a stretched exponential decay at large s, with ln f(s) proportional to - s^delta, and delta approximately 7/6 in d=1. The function f(s), universal ratios of moments, and the generating function <exp(lambda s)> are found in excellent agreement with the one-loop FRG predictions. The distribution of local avalanche sizes, i.e. of the jumps of a subspace of the manifold of dimension d', is also computed and compared to our FRG predictions, and to the conjecture tau' =2- 2/(d'+zeta).

Use of the floating frame of reference formulation in large deformation analysis: Experimental and numerical validation

The finite-element floating frame of reference (FFR) formulation is used, for the most part, in the small deformation analysis of flexible bodies that undergo large reference displacements. This formulation allows for filtering out systematically complex shapes associated with high frequencies that have no significant effect on the solution in the case of small deformations. The resulting low-order FFR models have been widely used to obtain efficient and accurate solutions for many engineering and physics applications. In this investigation, the use of the FFR formulation in the large deformation analysis is examined, and it is demonstrated that large deformation FFR models can be accurate in applications, where the deformation can be described using simple shapes as it is the case in robot system manipulators. In these cases, the standard finite-element FFR formulation must be used with non-linear strain—displacement relationships that account for the geometric non-linearities. The results obtained using the large deformation FFR models are compared with the results obtained using the large deformation absolute nodal coordinate formulation (ANCF), which does not allow for the use of linear modes. The ANCF models are developed using two different methods for formulating the elastic forces: the basic continuum mechanics approach (ANCF-BC) and the elastic line method (ANCF-EL). While the explicit Adams method can be used to obtain the numerical solution of the FFR model, two implicit integration methods are implemented in order to be able to obtain an efficient solution of the FFR and ANCF models. These implicit integration methods are the RADAU5 method and the Hilber—Hughes—Taylor (HHT) method. In the case of simple large deformation shapes, the simulation results obtained in this study show a good agreement between the FFR and the ANCF solutions. The results also show that, in the case of thin and stiff beams, the coupled deformation modes that result from the use of the ANCF-BC can be a source of numerical and locking problems, as reported in the literature. These ANCF-BC numerical problems can be circumvented using the implicit HHT integration method. Nonetheless, the HHT integrator does not capture high-frequency FFR axial modes which are necessary in order to obtain accurate solutions for high-speed rotating beams. In addition to the comparison with the ANCF solutions, experimental results of a forward dynamics model are used in this study to validate the large deformation FFR numerical solutions. The experimental set-up used in the validation of the numerical solutions is also described in this investigation.

Growing correlations and aging of an elastic line in a random potential

We study the thermally assisted relaxation of a directed elastic line in a two-dimensional quenched random potential by solving numerically the Edwards-Wilkinson equation and the Monte Carlo dynamics of a solid-on-solid lattice model. We show that the aging dynamics is governed by a growing correlation length displaying two regimes: an initial thermally dominated power-law growth which crosses over, at a static temperature-dependent correlation length ${L}_{T}\ensuremath{\sim}{T}^{3}$, to a logarithmic growth consistent with an algebraic growth of barriers. We present scaling arguments to deal with the crossover-induced geometrical and dynamical effects. This analysis allows us to explain why the results of most numerical studies so far have been described with effective power laws and also permits us to determine the observed anomalous temperature dependence of the characteristic growth exponents. We argue that a similar mechanism should be at work in other disordered systems. We generalize the Family-Vicsek stationary scaling law to describe the roughness by incorporating the waiting-time dependence or age of the initial configuration. The analysis of the two-time linear response and correlation functions shows that a well-defined effective temperature exists in the power-law regime. Finally, we discuss the relevance of our results for the slow dynamics of vortex glasses in high-${T}_{c}$ superconductors.

Dynamics of droplet formation at T-shaped nozzles with elastic feed lines

We describe the formation of water in oil droplets, which are commonly used in lab-on-a-chip systems for sample generation and dosing, at microfluidic T-shaped nozzles from elastic feed lines. A narrow nozzle forms a barrier for a liquid–liquid interface, such that pressure can build up behind the nozzle up to a critical pressure. Above this critical pressure, the liquid bursts into the main channel. Build-up of pressure is possible when the fluid before the nozzle is compressible or when the channel that leads to the nozzle is elastic. We explore the value of the critical pressure and the time required to achieve it. We describe the fluid flow of the sudden burst, globally in terms of flow rate into the channel and spatially resolved in terms of flow fields measured using micro-PIV. A total of three different stages—the lag phase, a spill out phase, and a linear growth phase—can be clearly discriminated during droplet formation. The lag time linearly scales with the curvature of the interface inside the nozzle and is inversly proportional to the flow rate of the dispersed phase. A complete overview of the evolution of the growth of droplets and the internal flow structure is provided in the digital supplement.

Finite Element Modeling of a Slewing Non-linear Flexible Beam for Active Vibration Control with Arrays of Sensors and Actuators

In this article, a new finite element model (FEM) of an Euler—Bernoulli beam, developed through an absolute nodal coordinate formulation (ANCF), is presented for simulation and analysis of the performance of surface-bonded piezoelectric actuators in suppressing non-linear transverse vibrations that are induced by very fast slewing. The elastic deformations experienced are an order of magnitude larger than cases considered to date, and the model employs a unique cubic spline approximation to the beam’s deformed elastic line that is in terms of node positions and curvatures. To ensure relevant commentary on the vibration suppression properties of the distributed piezoelectric actuators, a material damping model was introduced in the continuum equations to capture the non-linear damping of the very slender beam that is observed in experiments. Following the ANCF methodology, the constitutive damping moment is formulated in terms of the absolute nodal coordinates with care taken to ensure the calculation is singularity free. Galerkin’s method of weighted residuals is applied to discretize the revised equations of motion derived for the beam continuum. The FE beam model exploits a synergy between the twisted spline geometry and the lumped mass approximation to halve the size of the matrix equations that must be solved on each time step. However, this condensation of the matrix equations requires the use of interelement boundaries at the edges of the surface-bonded piezos. Using a single-link flexible manipulator as an example, a number of static and dynamic simulation examples that illustrate the validity of our FEM are presented, including comparisons to theoretical and other existing numerical solutions in literature. In addition, active vibration control examples are presented using proportional- and derivative-based hub motion and piezoelectric actuator controls in suppressing dramatic vibrations induced by fast slewing.

Depinning Transition in the Failure of Inhomogeneous Brittle Materials

The dynamics of cracks propagating in elastic inhomogeneous materials is investigated experimentally. The variations of the average crack velocity with the external driving force are measured for a brittle rock and shown to display two distinct regimes: an exponential law characteristic of subcritical propagation at a low driving force and a power law above a critical threshold. This behavior can be explained quantitatively by extending linear elastic fracture mechanics to disordered systems. In this description, the motion of a crack is analogous to the one of an elastic line driven in a random medium, and critical failure occurs when the external force is sufficiently large to depin the crack front from the heterogeneities of the material.

Driven flux-line lattices in the presence of weak random columnar disorder: Finite-temperature behavior and dynamical melting of moving Bose glass

We use 3D numerical simulations to explore the phase diagram of driven flux line lattices in presence of weak random columnar disorder at finite temperature and high driving force. We show that the moving Bose glass phase exists in a large range of temperature, up to its melting into a moving vortex liquid. It is also remarkably stable upon increasing velocity : the dynamical transition to the correlated moving glass expected at a critical velocity is not found at any velocity accessible to our simulations. Furthermore, we show the existence of an effective static tin roof pinning potential in the direction transverse to motion, which originates from both the transverse periodicity of the moving lattice and the localization effect due to correlated disorder. Using a simple model of a single elastic line in such a periodic potential, we obtain a good description of the transverse field penetration at surfaces as a function of thickness in the moving Bose glass phase.

Three-dimensional elasticity solution of simply supported functionally graded rectangular plates with internal elastic line supports

This paper studies the stress and displacement distributions of simply supported functionally graded rectangular plates with internal elastic line supports. The Young's modulus is graded through the thickness following the exponential law and the Poisson's ratio is kept constant. On the basis of three-dimensional elasticity theory, the solutions of displacements and stresses of the plate under static loads, which exactly satisfy the governing differential equations and the simply supported boundary conditions at four edges of the plate, are analytically derived. The reaction forces of the internal elastic line supports are regarded as the unknown external forces acting on the lower surface of the plate. The unknown coefficients in the solutions are then determined by the boundary conditions on the upper and lower surfaces of the plate. Convergence and comparison studies demonstrate the correctness and effectiveness of the proposed method. The effect of variations in Young's modulus on the displacements and stresses of rectangular plates and the effect of internal elastic line supports on the mechanical properties of plates are investigated.

Electrostatic origin of the Frank elastic energy and anisotropic line tension of the domains in monolayers at the air-water interface

The free energy of condensed phase domains in monolayers at the air-water interface has been analyzed by taking into account the surface pressure, line tension, and electrostatic energy due to the normal and in-plane spontaneous polarization. We found that this free energy was reduced to the sum of the Frank elastic energy and anisotropic line tension, which were used to reproduce the shapes of domains in fatty acid monolayers, in the limit of small orientational deformation. Domains in monolayers are interesting systems as a meeting point between the physics of liquid crystals and electrostatics.

Coupled Deformation Modes in the Large Deformation Finite Element Analysis: Generalization

The effect of the absolute nodal coordinate formulation (ANCF)–coupled deformation modes on the accuracy and efficiency when higher order three-dimensional beam and plate finite elements are used is investigated in this study. It is shown that while computational efficiency can be achieved in some applications by neglecting the effect of some of the ANCF-coupled deformation modes, such modes introduce geometric stiffening/softening effects that can be significant in the case of very flexible structures. As shown in previous publications, for stiff structures, the effect of the ANCF-coupled deformation modes can be neglected. For such stiff structures, the solution does not strongly depend on some of the ANCF-coupled deformation modes, and formulations that include these modes lead to numerical results that are in good agreement with formulations that exclude them. In the case of a very flexible structure, on the other hand, the inclusion of the ANCF-coupled deformation modes becomes necessary in order to obtain an accurate solution. In this case of very flexible structures, the use of the general continuum mechanics approach leads to an efficient solution algorithm and to more accurate numerical results. In order to examine the effect of the elastic force formulation on the efficiency and the coupling between different modes of deformation, three different models are used again to formulate the elastic forces in the absolute nodal coordinate formulation. These three methods are the general continuum mechanics approach, the elastic line (midsurface) approach, and the elastic line (midsurface) approach with the Hellinger–Reissner principle. Three-dimensional absolute nodal coordinate formulation beam and plate elements are used in this study. In the general continuum mechanics approach, the coupling between the cross section deformation and the beam centerline or plate midsurface displacement is considered, while in the approaches based on the elastic line and the Hellinger–Reissner principle, this coupling is neglected. In addition to the fully parametrized beam element used in this study, three different plate elements, two fully parametrized and one reduced order thin plate elements, are used. The numerical results obtained using different finite elements and elastic force formulations are compared in this study.

Intrinsic equations for a generalized relaxed elastic line on an oriented surface in the Minkowski 3-space E_1^3

H. K. Nickerson and Gerald S. Manning [8] derived the intrinsic equations for a relaxed elastic line on an oriented surface in the Euclidean 3-dimensional space E^3. In this paper, we define a generalized relaxed elastic line and derive the intrinsic equations for a generalized of relaxed elastic line on an oriented surface in the Minkowski 3-dimensional space E_1^3 and give some applications of the result.

An energy-based anisotropic yield criterion for cellular solids and validation by biaxial FE simulations

The initial yield surface of 2D lattice materials is investigated under biaxial loading using finite element analyses as well as by analytical means. The sensitivity of initial yield surface to the dominant deformation mode is explored by using both low- and high-connectivity topologies whose dominant deformation mode is either local bending or strut stretching, respectively. The effect of microstructural irregularity on the initial yield surface is also examined for both topologies. A pressure-dependent anisotropic yield criterion, which is based on total elastic strain energy density, is proposed for 2D lattice structures, which can be easily extended for application to 3D cellular solids. Proposed criterion uses elastic constants and yield strengths under uniaxial loading, and does not rely on any arbitrary parameter. The analytical framework developed allows the introduction of new scalar measures of characteristic stresses and strains that are capable of representing the elastic response of anisotropic materials with a single elastic master line under multiaxial loading.

Line creep in paper peeling

The dynamics of a “peeling front” or an elastic line is studied under creep (constant load) conditions. Our experiments show in most cases an exponential dependence of the creep velocity on the inverse force (mass) applied. In particular, the dynamical correlations of the avalanche activity are discussed here. We compare various avalanche statistics to those of a line with non-local elasticity, and study various measures of the experimental avalanche-avalanche and temporal correlations such as the autocorrelation function of the released energy and aftershock activity. From all these we conclude, that internal avalanche dynamics seems to follow “line depinning”-like behavior, in rough agreement with the depinning model. Meanwhile, the correlations reveal subtle complications not implied by depinning theory. Moreover, we also show how these results can be understood from a geophysical point of view.

Expansion of source equation of elastic line

SUMMARYThe paper is concerned with the relationship between the equation of elastic line motion, the “Euler-Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the bending moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and can not be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the joint and of the link (two modes), as well the environment force dynamics.

Interaction of an edge dislocation with voids inα-iron modelled with different interatomic potentials

Atomic processes and strengthening effects due to interaction between edge dislocations and voidsin α-iron have been investigated by means of molecular dynamics with a recently developedinteratomic potential (Ackland et al 2004 J. Phys.: Condens. Matter 16 S2629) and comparedwith those obtained earlier with an older potential (Ackland et al 1997 Phil. Mag. A 75 713).Differences between the interactions for the two models are insignificant at temperatureT≥100 K, thereby confirming the validity of the previous results. In particular, voids are relativelystrong obstacles because for large voids and/or low temperature, the initially straight edgedislocation is pulled into screw orientation before it breaks away at the critical shear stress,τc. Differences between the core structures and glide planes of the screw dislocation for the two potentials do not affectτc in this temperature range. The only significant difference between the dislocation–voidinteractions in the two models occurs at low temperature in static or pseudo-static conditions(T≤1 K). It arises from the influence of the dislocation segment in the70°-mixed orientation with the (Ackland et al 2004 J. Phys.: Condens. Matter 16 S2629) potentialand is seen in the critical line shape at which the dislocation breaks from the void. It affectsτc for some combinations of void size and spacing. The effect on the line shape does not arisefrom anisotropy of the elastic line tension: it is due to the high Peierls stress of the70° dislocation. When this effect does not control breakaway, the dependence ofτc on void size and spacing follows an equation first found by modelling the Orowan process inthe approximation of linear elasticity.

Coupled-dynamic analysis of floating structures with polyester mooring lines

A theory and numerical tool are developed for the coupled-dynamic analysis of a deepwater floating platform with polyester mooring lines. The formulas allow relatively large elongation and nonlinear stress–strain relationships, as typically observed in polyester fibers. The mooring-line dynamics are based on a rod theory and the finite element method (FEM), with the governing equations described in a generalized coordinate system. The original rod theory [Nordgren, R.P., 1974. On Computation of the Motion of Elastic Rods. Journal of Applied Mechanics, 41, 777–780] is generalized to allow larger elongation and nonlinear stress–strain relationship. The dynamic modulus of polyester is modeled following an empirical regression formula suggested by [Bosman, R.L.M., Hooker, J., 1999. The Elastic Modulus Characteristic of Polyester Mooring Ropes. In: Proceedings of the Offshore Technology Conference, OTC 10779. Houston, Texas], in which the axial stiffness is not constant, but depends on loading conditions. Two case studies, the static and dynamic behavior of a tensioned buoy and a classic spar with polyester mooring lines, are conducted. The time-domain simulation results are systematically compared with those from the original rod theory. The effects of large elongation and nonlinear stress–strain relations are separately assessed. It is seen that the mean offset, motions, and tension with polyester lines can be different from those by original rod theory with linear elastic lines.

On the correct representation of bending and axial deformation in the absolute nodal coordinate formulation with an elastic line approach

In finite element methods that are based on position and slope coordinates, a representation of axial and bending deformation by means of an elastic line approach has become popular. Such beam and plate formulations based on the so-called absolute nodal coordinate formulation have not yet been verified sufficiently enough with respect to analytical results or classical nonlinear rod theories. Examining the existing planar absolute nodal coordinate element, which uses a curvature proportional bending strain expression, it turns out that the deformation does not fully agree with the solution of the geometrically exact theory and, even more serious, the normal force is incorrect. A correction based on the classical ideas of the extensible elastica and geometrically exact theories is applied and a consistent strain energy and bending moment relations are derived. The strain energy of the solid finite element formulation of the absolute nodal coordinate beam is based on the St. Venant–Kirchhoff material: therefore, the strain energy is derived for the latter case and compared to classical nonlinear rod theories. The error in the original absolute nodal coordinate formulation is documented by numerical examples. The numerical example of a large deformation cantilever beam shows that the normal force is incorrect when using the previous approach, while a perfect agreement between the absolute nodal coordinate formulation and the extensible elastica can be gained when applying the proposed modifications. The numerical examples show a very good agreement of reference analytical and numerical solutions with the solutions of the proposed beam formulation for the case of large deformation pre-curved static and dynamic problems, including buckling and eigenvalue analysis. The resulting beam formulation does not employ rotational degrees of freedom and therefore has advantages compared to classical beam elements regarding energy-momentum conservation.

Line creep in paper peeling

The dynamics of a “peeling front” or an elastic line is studied under creep (constant load) conditions. Our experiments show in most cases an exponential dependence of the creep velocity on the inverse force (mass) applied. In particular, the dynamical correlations of the avalanche activity are discussed here. We compare various avalanche statistics to those of a line with non-local elasticity, and study various measures of the experimental avalanche-avalanche and temporal correlations such as the autocorrelation function of the released energy and aftershock activity. From all these we conclude, that internal avalanche dynamics seems to follow “line depinning”-like behavior, in rough agreement with the depinning model. Meanwhile, the correlations reveal subtle complications not implied by depinning theory. Moreover, we also show how these results can be understood from a geophysical point of view.

Complement of Source Equation of Elastic Line

A new notion of joint, defined in terms of the state of motor (active or locked) and type of the elastic or rigid element, gear and/or link that follows after the motor, is introduced. Special attention is paid to the motion of the flexible links in the robotic configuration. The paper deals with the relationship between the equation of elastic line equilibrium, the “Euler–Bernoulli approach” (EBA), and equation of motion at the point of elastic line tip, the “Lumped-mass approach” (LMA). The Euler–Bernoulli equations (which have for a long time been used in the literature) should be expanded according to the requirements of the motion complexity of elastic robotic systems. The Euler–Bernoulli equation (based on the known laws of dynamics) should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. This yields the difference in the structure of Euler–Bernoulli equations for each mode. The stiffness matrix is a full matrix. Mathematical model of the actuators also comprises coupling between elasticity forces. Particular integral of Daniel Bernoulli should be supplemented with the stationary character of elastic deformation of any point of the considered mode, caused by the present forces. General form of the elastic line is a direct outcome of the system motion dynamics, and cannot be described by one scalar equation but by three equations for position and three equations for orientation of every point on that elastic line. The choice of reference trajectory is analyzed. Simulation results are shown for a selected robotic example involving the simultaneous presence of elasticity of the gear and of the link (two modes), as well as the environment force dynamics.

Modeling of properties and motions of an inhomogeneous one-dimensional continuum of a complicated Cosserat-type microstructure

We consider an approach to modeling the properties of the one-dimensional Cosserat continuum [1] by using the mechanical modeling method proposed by Il’yushin in [2] and applied in [3]. In this method, elements (blocks, cells) of special form are used to develop a discrete model of the structure so that the average properties of the model reproduced the properties of the continuum under study. The rigged rod model, which is an elastic structure in the form of a thin rod with massive inclusions (pulleys) fixed by elastic hinges on its elastic line and connected by elastic belt transmissions, is taken to be the original discrete model of the Cosserat continuum. The complete system of equations describing the mechanical properties and the dynamical equilibrium of the rigged rod in arbitrary plane motions is derived. These equations are averaged in the case of a sufficiently smooth variation in the parameters of motion along the rod (the long-wave approximation). It was found that the average equations exactly coincide with the equations for the one-dimensional Cosserat medium [1] and, in some specific cases, with the classical equations of motion of an elastic rod [4–6]. We study the plane motions of the one-dimensional continuum model thus constructed. The equations characterizing the continuum properties and motions are linearized by using several assumptions that the kinematic parameters are small. We solve the problem of natural vibrations with homogeneous boundary conditions and establish that each value of the parameter distinguishing the natural vibration modes is associated with exactly two distinct vibration mode shapes (in the same mode), each of which has its own frequency value.