Inherent Coupling Research Articles

Microporomechanics of quasi-brittle rocks: Theoretical formulations and analytical simulations

Hydromechanical coupling is one of the essential theoretical and practical issues in rock mechanics and rock engineering. In geological context, it is critically important to incorporate the effect of pore pressure into the constitutive equations with full account of cracking-induced material anisotropies and friction-related plastic deformation. Focus here is put on poromechanical formulations for quasi-brittle rocks weakened by microcracks and saturated with pore fluid pressure. The linear homogenization method applied to derive the effective properties and system free energy is combined with the irreversible thermodynamics and the problem decomposition. Constitutive derivations include the determination of the system free energy, state equations associated with and evolution laws of the internal variables, closed-form failure criterion, etc. Inherent coupling between anisotropic unilateral damage, friction-induced plastic deformation and the fluid pressure constitutes one of significant novelties of the work. Continuities required for the total free energy, macroscopic stress and the global porosity are guaranteed at any opening-closure transition of cracks. Through strength and deformation coupling analyses, the effects of fluid pressure on material strength and deformation are elucidated and also validated by experiments we performed upon a sandstone.

Design and Modeling of a Sub-2 mm Steerable Neuroendoscopic Grasping Tool.

Minimally invasive procedures, such as endoscopic third ventriculostomy (ETV), benefit from the increased dexterity and safety that surgical continuum robots can bring. However, due to their natural compliance, new compatible end-effectors, such as graspers or scissors, must be developed and their actuation must be considered when developing the robotic structures in which they are housed due to the inherent coupling that will be introduced. In this paper, we integrate a tendon-driven meso-scale grasper, with a closed configuration diameter of 1.69 mm, into a 2 degree-of-freedom (DoF) tendon-driven neurosurgical robot with an outer diameter of less than 2 mm. Furthermore, the kinematics of the grasper is validated and an analysis of the coupling between the grasper and the robotic joints is conducted in order to evaluate the design performance.

Extended Kalman filters for close-range navigation to noncooperative targets

This work presents a set of dynamic filters for estimating the relative roto-translational state and the main parameters of a noncooperative target from an observing chaser satellite during close proximity operations. The proposed different options address a wide range of design possibilities for the architecture of the relative navigation system. All filters are derived from a common, general, core shaped as a dynamic multiplicative extended Kalman filter using dual quaternions. This allows exploiting the advantages of handling the pose (i.e., attitude and position) in a multiplicative fashion, while improving the accuracy in the estimation of the angular and linear relative velocities, as well as enabling the estimation of some meaningful parameters of the target spacecraft (e.g., the ratios of the moments of inertia, position and orientation of the principal axes frame). Moreover, by adopting relative kinematics and dynamics equations in dual quaternions, the inherent coupling of the six degrees-of-freedom motion is addressed with no approximations. All filters take as observations only the noisy pose measurements from an electro-optical device. For each proposed formulation, numerical simulations are carried out to show the behavior of the filter within a scenario representative of close-range target inspection at conclusion of the mid-range rendezvous.

Evaluation of Counter-Rotating Dual-Rotor Permanent-Magnet Flux-Switching Machine with Series and Parallel Stator Teeth

In this study, the focus is on the magnetic path formation and its effects on the performance of a counter-rotating dual-rotor permanent-magnet flux-switching machine (CR-DRPMFSM) for direct-drive counter-rotating wind power generation, based on different stator slot and rotor pole combinations. To fully exploit rotor-shaft bore and improve fault-tolerant design, as well as increase torque density, dual-rotor topologies with the capability for dual electrical and dual mechanical ports are investigated. Moreover, the direct-drive counter-rotating wind power generation technique offers a brushless topology, thus reducing maintenance cost and improving energy conversion efficiency compared to single-blade wind turbine systems. Using finite element analysis (FEA), the inherent magnetic coupling of the series and parallel paths shows varied impacts on the electromagnetic performance of four different CR-DRPMFSMs based on the slot/pole combinations (MI to MIV) considered in this study. The key electromagnetic performance indices, such as torque, cogging torque, torque ripple, power factor, and efficiency, show proportionate variation to the coupling level. A comparative analysis shows that MI exhibits higher average torque, lower torque ripples, and high efficiency, reaching 90% with a power factor of 0.6. As an optimal design, an MI test prototype is developed. The experimental test prototype validates the FEA results under no-load and on-load conditions.

Deterministic approach to decoupling amplitude from phase via a single-layered metasurface

Controlling the phase and amplitude of reflected waves has been challenging due to the inherent coupling between them. Changes in the phase of a wave often result in changes in its amplitude, and vice versa. This coupling makes it difficult to control both parameters independently. Here we report a deterministic approach, illustrated by an equivalent circuit model, to decouple the phase from the amplitude of reflected waves based on a single-layer metasurface. With the variables conversion and appropriate impedance patterns, this approach allows for the generation of 1-bit phase meta-atoms with a natural phase difference of 180° and controllable amplitude ranging from 0 to 0.9. Furthermore, the decoupling frequency can be customized by using different permittivities and dielectric thickness. These 1-bit phase meta-atoms, whose amplitude can be independently controlled, have potential in wavefront manipulation such as multi-beam antennas and hybrid radar cross section reduction metasurfaces. As a proof of concept, a metasurface for backscatter suppression is demonstrated and measured. The reflected wave is scattered by wavefront modulation with phase control in the spatial domain, while the energy is absorbed by amplitude control in the energy domain, resulting in extremely low backward scatterings in a wideband. In addition to the discussion of passive metasurfaces, the active case is also expanded on. The results of our paper demonstrate the potential of the phase- and amplitude-decoupled approach in designing multi-function metasurfaces for wavefront manipulation and radar applications.

Mathematical-Based CFD Modelling and Simulation of Mushroom Drying in Tray Dryer

In this study, CFD simulations that incorporate the inherent coupling between the moisture content of the mushroom and hot air flow in the tray dryer were performed. Conservation principles were applied to the fundamental quantities of mass, momentum, and heat. The source terms due to the moisture evaporation, the viscous and inertial resistance, and continuous evaporative cooling were determined through experimental results. Experiments were conducted to study and select the drying kinetics model at the optimum drying conditions and moisture sorption isotherm model at 30, 40, and 50°C temperatures. The best model describing the drying kinetics of mushrooms and moisture sorption isotherm model was chosen based on the lowest RMSE values and the highest R 2 value. Midilli et al.’s drying kinetics model and the modified Henderson sorption isotherm model were adopted in CFD modelling. The CFD software ANSYS Fluent was used for the 3D modelling of mushroom drying in a tray dryer. The mass and energy source term equations were added to the ANSYS Fluent software using a user-defined function (UDF). The parameter permeability of medium ( α ) and pressure-jump coefficient ( C 2 ) appearing in the momentum source term were directly introduced in the Fluent setup as cell zone conditions. The simulation results of the moisture removal and drying temperatures were validated against experimental data. Both results are in good agreement with the experimental data, with R 2 values of 0.9906 for moisture contents and 0.926 for drying temperature. Thus, simulation can be an option to study the drying mechanisms and alleviate some drawbacks of doing experiments.

A time-coupling consideration for evaluation of load carrying capacity in district multi-energy systems

This paper proposes a systematic approach to evaluate the load carrying capability of a district multi-energy system (MES) using the Energy Hub (EH) modeling approach. The EH approach is used to model the system, and the EH steady-state security region concept is introduced as a means of assessing the system's load carrying capacity. To calculate the security region, a multi-parametric programming (MPP) algorithm is proposed, while a standardized matrix modeling approach is utilized to formulate its mathematical representation. To handle the high-dimensional polytope resulting from time coupling, a strategy is employed to approximate the original polytope using a reduced number of lower-dimensional polytopes. These lower-dimensional polytopes are specifically associated with a limited number of time periods, thereby alleviating the computational complexity. The proposed method offers an improved balance between computational accuracy and efficiency compared to existing approaches, while retaining the inherent time coupling characteristics across different period combinations.

Electrochemically Controlled Hydrogels with Electrotunable Permeability and Uniaxial Actuation.

The unique properties of hydrogels enable the design of life-like soft intelligent systems. However, stimuli-responsive hydrogels still suffer from limited actuation control. Direct electronic control of electronically conductive hydrogels can solve this challenge and allow direct integration with modern electronic systems. An electrochemically controlled nanowire composite hydrogel with high in-plane conductivity that stimulates a uniaxial electrochemical osmotic expansion is demonstrated. This materials system allows precisely controlled shape-morphing at only -1V, where capacitive charging of the hydrogel bulk leads to a large uniaxial expansion of up to 300%, caused by the ingress of ≈700 water molecules per electron-ion pair. The material retains its state when turned off, which is ideal for electrotunable membranes as the inherent coupling between the expansion and mesoporosity enables electronic control of permeability for adaptive separation, fractionation, and distribution. Used as electrochemical osmotic hydrogel actuators, they achieve an electroactive pressure of up to 0.7MPa (1.4MPa vs dry) and a work density of ≈150kJm-3 (2MJm-3 vs dry). This new materials system paves the way to integrate actuation, sensing, and controlled permeation into advanced soft intelligent systems.

Waveform Design and Optimization for Integrated Visible Light Positioning and Communication

In this paper, we investigate an energy efficient waveform design for integrated visible light positioning and communication (VLPC) systems by exploiting the relationship between visible light positioning (VLP) and visible light communication (VLC). We propose that the direct current component and the alternating current component of the VLPC signals are utilized for positioning and communication, respectively. With a single LED-lamp, we propose a received-signal-strength based 3D VLP scheme, and further derive the Cramer-Rao lower bound (CRLB). Then, by exploiting the inherent coupling relationship between VLP and VLC, the positioning results are utilized for channel estimation of VLC, which can significantly reduce the channel estimation pilot overhead. Furthermore, we optimize the waveform design by minimizing the CRLB, while satisfying both the outage probability of communication rate and total transmit power constraints. However, this problem turns to be non-convex and intractable. To address this challenging problem, we utilize the Conditional Value-at-Risk to conservatively transform the outage probability constraint into a deterministic form. By exploiting the block coordinate descent algorithm, the waveform design problem can be efficiently solved by alternately optimizing VLP and VLC convex sub-problems and dual problem. Finally, simulation results verify both the effectiveness and robustness of the proposed waveform design.

Stationary Pattern Formation in Iron Electrodissolution with Two Cells: Effects of Serial or Parallel Coupling

We investigate the stationary pattern formation for two coupled cells at constant circuit potential. Two configurations are explored: two cells in serial and parallel. In each cell the anode is iron electrodissolution and the cathode is hydrogen ion reductions on a large surface area Pt electrode with sulfuric acid electrolyte. Iron electrodissolution in sulfuric acid exhibits negative differential resistance due to electrode passivation by the surface oxide where the stability of the surface oxide is dependent on electrode potential and pH at the electrode interface. In the presence of ohmic potential drops (e.g., due to solution or external resistance), bistability can occur where the active and passive states co-exist at a given circuit potential. First, we investigated the patterns that emerge for two serially coupled iron electrodissolution in sulfuric acid. Investigation of the forward scan potentiodynamic I-V curves reveals sequential passivation of electrodes in no particular order and a potential region is identified where one electrode is passive and the other is inactive, and thus a stationary pattern is formed. Numerical simulations and equivalent circuit network modeling of the experimental set-up reveals a bidirectional negative coupling topology as a consequence of serial configuration, providing insight into the pattern formation. The patterns are interpreted with a kinetic model which shows that the coupled NDR system can exhibit symmetry breaking transitions in the presence of negative coupling. Next, we studied stationary pattern formation in two parallel cells. In contrast to the serial placement, the potentiodynamic I-V curves reveal simultaneous passivation of the two electrodes. The electrode potential versus circuit potential plot displays a uniform state of electrodes throughout the scan. The corresponding modeling showed that the lack of sequential passivation and the presence of uniform states were due to the inherent bidirectional positive coupling in the system. The experiments demonstrate the rich dynamical response of a coupled negative differential resistance systems to generate stationary patterns similar to Turing patterns that are used to interpret morphogenesis in biological systems. The theoretical understanding and insight gained from modeling and simulating observed patterns of relatively smaller electrochemical cells could be crucial in the accelerated understanding, design, and control of battery packs that utilize serial and parallel coupled electrodes.

Dynamic output-feedback model predictive control for polytopic uncertain systems with amplify-and-forward relays

In this paper, the dynamic output-feedback model predictive control (MPC) problem is investigated for systems with polytopic uncertainties and amplify-and-forward (AF) relays, where the signal transmission with random power is adopted to facilitate the remote transmission with the limited transmission capacity of sensors. With respect to the parameter uncertainties of the system and the randomness of AF relays, a new objective function is constructed, which is defined by the mathematical expectation of the conventional quadratic function over the infinite time horizon. Then, the singular value decomposition technique is applied to handle the inherent couplings of variables to formulate a solvable optimization problem. Furthermore, sufficient conditions are provided to guarantee the recursive feasibility of the proposed MPC algorithm, meanwhile the underlying system can be stabilized in the mean-square sense by the designed controllers. Finally, two simulation examples are used to show the effectiveness of the proposed MPC strategy.

Nonvolatile magnetization switching in a single-layer magnetic topological insulator

Magnetization in a ferromagnetic layer could be manipulated by the spin-orbit torque whose generation commonly relies on the spin-orbit coupling from the adjacent heavy-metal layer within the bilayer. The fact that the magnetic topological insulator possesses both the ferromagnetic order with perpendicular anisotropy and inherent spin-orbit coupling inspires to realize such a torque-induced magnetization switching without forming any heterostructure with other materials. Here, only using a single layer of magnetically-doped topological insulator Cr:(Bi,Sb)2Te3, we realize a magnetization switching only by applying a large dc current. Assisted by the magnetic history, such a switching behaves nonvolatile under zero field but becomes volatile otherwise, as consistently shown by magnetoelectric transports and magneto-optical Kerr effect measurements. Static and quasistatic current are found to be equivalent for the switching. We propose that this switching may associate with the torque resulted from the spin-orbit coupling and the compositional asymmetry in the Cr-profile of the single layer.

Magneto-optical induced supermode switching in quantum fluids of light

The insensitivity of photons towards external magnetic fields forms one of the hardest barriers against efficient magneto-optical control, aiming at modulating the polarization state of light. However, there is even scarcer evidence of magneto-optical effects that can spatially modulate light. Here, we demonstrate the latter by exploiting strongly coupled states of semimagnetic matter and light in planar semiconductor microcavities. We nonresonantly excite two spatially adjacent exciton-polariton condensates which, through inherent ballistic near field coupling mechanism, spontaneously synchronise into a dissipative quantum fluidic supermode of definite parity. Applying a magnetic field along the optical axis, we continuously adjust the light-matter composition of the condensate exciton-polaritons, inducing a supermode switch into a higher order mode of opposite parity. Our findings set the ground towards magnetic spatial modulation of nonlinear light.

Integrate Assignment of Multiple Heterogeneous Unmanned Aerial Vehicles Performing Dynamic Disaster Inspection and Validation Task With Dubins Path

The actual performance of a task assignment method of unmanned aerial vehicles (UAVs) shows a considerable dependence on the path planning process coupled with it; however, this topic has been rarely studied in the existing literature. This paper considers the problem of maximizing the task-assignment reward of a fleet of heterogeneous UAVs for a dynamic reconnaissance and confirmation task under constraints of critical time and multi-UAV tasks where the coupled path optimization objectives also need to be considered. The existing consensus-based bundle algorithm is extended with an effective method for managing the multi-task and multi-agent constraints. The proposed method can optimize the inherent coupling path using the Dubins path to reduce the differences between the estimated path and the actual path, shortening the operation time by adopting the distributed genetic algorithm. The proposed method is verified by the sample run tests of a disaster area reconnaissance and confirmation task and Monte Carlo comparison simulations with the two existing algorithms. The results verify both the practicality and advantages of the proposed method.

Engineering confined fluids to autonomously assemble hierarchical 3D structures.

The inherent coupling of chemical and mechanical behavior in fluid-filled microchambers enables the fluid to autonomously perform work, which in turn can direct the self-organization of objects immersed in the solution. Using theory and simulations, we show that the combination of diffusioosmotic and buoyancy mechanisms produce independently controlled, respective fluid flows: one generated by confining surfaces and the other in the bulk of the solution. With both flows present, the fluid can autonomously join 2D, disconnected pieces to a chemically active, "sticky" base and then fold the resulting layer into regular 3D shapes (e.g. pyramids, tetrahedrons, and cubes). Here, the fluid itself performs the work of construction and thus, this process does not require extensive external machinery. If several sticky bases are localized on the bottom surface, the process can be parallelized, with the fluid simultaneously forming multiple structures of the same or different geometries. Hence, this approach can facilitate the relatively low-cost, mass production of 3D micron to millimeter-sized structures. Formed in an aqueous solution, the assembled structures could be compatible with biological environments, and thus, potentially useful in medical and biochemical applications.

Computed torque control and force analysis for mechanical leg with variable rotation axis powered by servo pneumatic muscle

It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles (PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear characteristics make it hard to achieve good tracking performance in a large range of motion. Therefore, a four-bar linkage bionic knee joint structure with a variable axis and a double closed-loop servo position control strategy based on computed torque control are designed to improve anthropomorphic characteristics and the dynamic performance of the bionic mechanical leg powered by servo pneumatic muscle (SPM). Firstly, the relationship between the joint torque, the initial jump angle and the bounce height of the mechanical leg is established, and then we design a double-joint PM bionic mechanical leg containing a four-bar linkage mechanism of the knee joint. Secondly, a cascade position control strategy is developed, which consists of the outer position loop and the inner contraction force loop, and the mapping relationship is designed between joint torque and antagonistic PM contraction force. Finally, we further project bounce action timing of mechanical leg to realize the periodic jumping movement of the mechanical leg, and simulation and physical experiments of the real-style machine platform have been provided to demonstrate the effectiveness of the designed SPM controller.

Decoupling control of radial 4 degree of freedom system of magnetic-liquid double suspension bearing based on generalized extended state observer.

As the novel suspension bearing, Magnetic-Liquid Double Suspension Bearing (MLDSB) is mainly supported by magnetic suspension and supplemented by a liquid hydrostatic bearing. Due to its great bearing capacity and stiffness, rapid response, great active control, and so on, MLDSB is suitable for medium speed heavy loads and has a large carrying capacity and high operating stability. In addition, the radial inertia coupling and gyroscopic coupling between radial 4-DOF control channels can reduce control precision, operation stability, and reliability of MLDSB. Therefore, a mathematical model of radial 4-DOF rotor-dynamics of MLDSB is established in this paper, and the inherent coupling mechanism is explored. Taking inertial coupling, gyroscopic coupling, and external disturbance loads as lumped disturbances, a decoupled controller based on Generalized Extended State Observer (GESO) is established. The influence of the GESO controller on the decoupling and control performance of radial 4-DOF control channels is simulated. The results indicate that the decoupling effect of the GESO controller is great. Under the action of step signal, the steady displacement, maximum displacement, adjustment time, and peak time of the rotor after decoupling are all reduced, among which the steady displacement and maximum displacement are the most obvious. Under the sinusoidal signal, the steady displacement and maximum displacement are reduced by 90%, which can effectively avoid the "gap-impact" fault. Under the pulse signal, the steady displacement, maximum displacement, adjustment time, and peak time are all reduced, among which the maximum displacement is the most obvious. The research in this paper can provide a theoretical reference for the stable support and decoupling control of MLDSB.

Flow Separation Control of Nacelle Inlets in Crosswinds by Dielectric Barrier Discharge Plasma Actuation

Crosswinds will lead to large-scale flow separation in the nacelle inlets, which seriously affects the flight safety of the aircraft; there is an urgent need to develop flow control measures. As a plasma flow control method, the application of surface dielectric barrier discharge in the field of nacelle inlet separation control is of great significance for improving the intake quality. Based on the characteristic law of the baseline flow field, the flow control effect of the nacelle inlet separation flow field experiments with NS-DBD, and the influence of the actuation frequency on the flow control is discussed. A comparative experimental study of NS-DBD and AC-DBD is carried out. Finally, the flow control mechanisms for both are discussed. The results show that under the condition that the flow velocity of the wind tunnel is 35 m/s and the crosswind angle is 10°, the average total pressure loss coefficient and distortion index decrease by 29.62% and 44.14% by NS-DBD actuation. At the same time, exists an inherent optimal coupling frequency in NS-DBD, and the control effect of NS-DBD is better than that of AC-DBD. NS-DBD mainly through shock waves and induced vortices, while AC-DBD mainly through the induced generation of near-wall jets to reduce the inverse pressure gradient and improve nacelle flow separation.

Multidiscipline Design Optimization for Large-Scale Complex Nonlinear Dynamic System Based on Weak Coupling Interfaces

For high-tech manufacturing industries, developing large-scale complex nonlinear dynamic systems must be taken as one of the basic works, formulating problems to be solved, steering system design in a more preferable direction, and making correct strategic decisions. By using effective tools of big data mining, Dynamic Design Methodology was proposed to establish a technical platform for Multidiscipline Design Optimization such as High-Speed Rolling Stock, including three key technologies: analysis graph of full-vehicle stability properties and variation patterns, improved transaction strategy of flexible body to MBS interface, seamless collaboration with weldline fatigue damage assessments through correct Modal Stress Recovery. By applying the above methodology, a self-adaptive improved solution was formulated with optimal parameter configuration, which is one of the more favorable options for higher-speed bogies. While within a velocity (140–200) km/h at λe < 0.10, car body instability’s influence on ride comfort can be easily improved by using a semi-active vibration reduction technique between inter-vehicles through outer windshields. Comprehensive evaluations show that only under rational conditions of wheel-rail matching, i.e., 0.10 ≥ λeN > λemin and λemin = (0.03–0.06), can this low-cost solution achieve the three goals of low track conicity, optimal route planning, and investment benefit maximization. So, rail vehicle experts are necessary to collaborate and innovate intensively with passenger transportation and steel rail ones. Specifically, by adopting rail grinding treatment, occurrence probability is controlled at 85% and 5% for track conicity of (0.03–0.10) and (0.25–0.35). By optimizing routing planning, operating across dedicated lines of different speed grades can achieve self-cleaning of central hollow tread wear over time. According to the inherent rigid-flex coupling relationship, geometric nonlinearities of worn wheel-rail contact should be avoided as much as possible for HSR practices. Only under weak coupling interfaces in the floor frame can the structural integrity of an aluminum alloy car body be ensured.

Finite-time synchronization control scheme for underactuated satellite formation reconfiguration

A synchronization control scheme for underactuated satellite formation reconfiguration in circular orbits is proposed in this paper. The main idea of the synchronization scheme is to control the satellite without radial or along-track thrust to track its desired configuration while synchronizing its motion with that of other underactuated satellites to maintain the predefined or time-varying formation. Firstly, a new underactuated control approach is presented for either underactuated case. Based on the inherent coupling of the system states, the finite-time convergence of the system trajectory could be guaranteed by the sliding mode-based underactuated controller. Secondly, to synchronize the reconfiguration motion between followers, the sum of the sliding mode errors of every two neighbor followers is defined as the synchronization control. The Lyapunov-based method proves the finite-time convergence of synchronization control. More importantly, the minimum nonzero eigenvalue of the Laplace matrix can reduce the system state convergence region. Numerical simulations also verify the performance of the proposed underactuated synchronization controller.