Parallel Force Research Articles

Modified Use of the Component Method to Get More Realistic Force Distribution in Joints of Steel Structures

According to the EN 1993-1-8 Standard, the moment resistance of end-plated connections can be calculated with the use of the component method. In this, a pair-of-force defines the moment resistance. The magnitude and the location of the compression force can be accurately identified. The tension force part is usually the resultant of parallel forces appearing in line with the bolt rows. Following the rules of manual calculation and using a mechanical finite element model, where each component is modelled with spring elements, in some—easily identifiable—cases, leads to different force distribution. The simplifications defined in the Standard provide a longer arm for the same force, and because of this, larger moment resistance at the expense of safety. In this work, an alternative calculation method will be presented that provides the same force values in each bolt row, as the mechanical model of the connection, without constructing the finite element model.

Dynamic Navigation-Guided Robotic Placement of Zygomatic Implants.

To assess the feasibility and accuracy of a new prototype robotic implant system for the placement of zygomatic implants in edentulous maxillary models. The study was carried out on eight plastic models. Cone beam computed tomographs were captured for each model to plan the positions of zygomatic implants. The hand-eye calibration technique was used to register the dynamic navigation system to the robotic spaces. A total of 16 zygomatic implants were placed, equally distributed between the anterior and the posterior parts of the zygoma. The placement of the implants (ZYGAN®, Southern Implants) was carried out using an active six-jointed robotic arm (UR3e, Universal Robots) guided by the dynamic navigation coordinate transformation matrix. The accuracy of the implant placement was assessed using EvaluNav and GeoMagicDesignX® software based on pre- and post-operative CBCT superimposition. Descriptive statistics for the implant deviations and Pearson's correlation analysis of these deviations to force feedback recorded by the robotic arm were conducted. The 3D deviations at the entry and exit points were 1.80 ± 0.96 mm and 2.80 ± 0.95 mm, respectively. The angular deviation was 1.74 ± 0.92°. The overall registration time was 23.8 ± 7.0 minutes for each side of the model. Operative time excluding registration was 66.8 ± 8.8 minutes for each trajectory. The exit point and angular deviations of the implants were positively correlated with the drilling force perpendicular to the long axis of the handpiece and negatively correlated with the drilling force parallel to the long axis of the handpiece. The errors of the dynamic navigation-guided robotic placement of zygomatic implants were within the clinically acceptable limits. Further refinements are required to facilitate the clinical application of the tested integrated robotic-dynamic navigation system. Robotic placement of zygomatic implants has the potential to produce a highly predictable outcome irrespective of the operator's surgical experience or fatigue. The presented study paves the way for clinical applications.

Parallel Force Feedback Device Design With Constant Jacobian Matrix and Net Weight Fully Balanced

Abstract Force feedback devices offer realistic and intuitive feedback to operators, and achieving higher accuracy and transparency has been a prominent research focus in this field. However, errors in real-time force or position calculations are inevitable, which can have adverse effects on the accuracy of the equipment. This article presents the design of a parallel mechanism that incorporates a constant force and velocity mapping relationship based on the type synthesis of the constant Jacobian matrix. Specifically, the mechanism maintains a fixed direction of force applied to the operating platform by the drive pair, which is mounted on the fixed platform in each limb, irrespective of position changes. This unique feature enables the mechanism to achieve a complete net weight balance. The implementation method is detailed in this article, which involves adding appropriate counterweights to achieve a balance between the weight of the connecting rod and the overall gravity of the operating platform. Furthermore, the optimization of structural parameters helps to improve the performance of the developed prototype. The proposed design scheme not only addresses the fundamental reduction of errors caused by real-time force and position mapping solving but also enhances operational transparency. Finally, simulation and experimental tests are conducted to validate the proposed theory.

The Character of Couples and Couple Stresses in Continuum Mechanics

In this paper, the concepts of moments and couples in mechanics are examined from a fundamental perspective. Representing a couple by its moment vector is very useful in rigid body mechanics, where the states of internal stresses and deformation are not studied. This is because only the moment of couples appears in the governing equation of moment equilibrium. On the other hand, when considering the state of internal stresses and deformation in continuum mechanics, not only the moment of couples but also the line of action of their constituent parallel opposite forces must be specified. In defining a well-posed problem for a continuum, including the governing equations of moment equilibrium or motion, boundary conditions, and constitutive relations, only the moment of couples (e.g., body couples, couple tractions, couple stresses) appear without specifying the line of action of the constituent parallel forces. Nevertheless, the physical state of stress and deformation in the continuum must be unique and determinate. Therefore, this physical requirement imposes some restrictions on the form of body couples, couple tractions, and couple stresses. Here, the uniqueness of interactions in the continuum is used to establish that the continuum does not support a distribution of body couples or a distribution of surface twisting couple tractions with normal moments. Furthermore, the mechanism of action of the couple traction as a double layer of shear force tractions is established, along with the skew-symmetric character of the couple stress moment tensor.

Programmable XY-type couplings through parallel spin-dependent forces on the same trapped ion motional modes

We propose and experimentally demonstrate an analog scheme for generating XY-type (Jijxσxiσxj+Jijyσyiσyj) Hamiltonians on trapped ion spins with independent control over the Jijx and Jijy terms. The Ising-type interactions σxiσxj and σyiσyj are simultaneously generated by employing two spin-dependent forces operating in parallel on the same set of normal modes. We analytically calculate the region of validity of this scheme, and provide numerical and experimental validation with Yb+171 ions. This scheme inherits the programmability and scalability of the Ising-type interactions with trapped ions that have been explored in numerous quantum simulation experiments. Our approach extends the capabilities of existing trapped ion quantum simulators to access a large class of spin Hamiltonians relevant for exploring exotic quantum phases such as superfluidity and spin liquids. Published by the American Physical Society 2024

SOL impurity transport analysis with SONIC code with a kinetic effect on a thermal force transport model in JT‐60U

AbstractThe latest version of the SONIC code with the extended thermal force model that is capable to treat collisionality dependence of the force has been applied to the interpretative simulation of L‐mode discharge of JT‐60 U to investigate the impact of kinetic correction of the thermal force on the scrape‐off layer (SOL) plasma properties. As a first attempt, we have selected an L‐mode attached discharge #39090 (Ip = 1.6 MA, Bt = 3.1 T, and PNBI = 4.5 MW), where = 2.08 × 1019 m−3, = 0.392 with deuterium plasmas. It has been found that the peak values of SOL impurity density are reduced by a factor of 2, with the kinetic correction, because the thermal force is reduced by the low collisionality of SOL plasma between the X‐point and the (inner and outer) midplane. On the other hand, the profiles near the divertor plates are unaffected by the kinetic correction due to the highly collisional condition. The kinetic correction is found more pronounced for the higher charge states impurity due to the charge dependence of the parallel impurity force balance. Overall effects due to the kinetic correction on the total impurity radiation and the divertor heat load are confirmed to be a few % in the present discharge condition of JT‐60U.

One-dimensional simulation and validation of divertor detachment induced through nitrogen seeding on HL-2A

Divertor detachment is a promising method to solve the power exhaust problem in tokamak devices or even in future magnetic fusion reactors. In this work, a detachment experiment (HL-2A shot #38008) with mixed gas seeding (60% nitrogen and 40% deuterium) is simulated using the SD1D module in BOUT++. In the process from attachment to detachment, the target electron temperature and the target ion saturation current in simulations are found to be consistent with the experimental results measured by Langmuir probes on the target plate. In order to understand the underlying detachment mechanism on HL-2A, this work analyses the role of different particle species in the cases with different seeding rates. It shows that the plasma density varies little and the density of neutrals ( D and D2 ) slightly decreases with the increase of nitrogen seeding rate, such that plasma–neutral interactions cannot effectively reduce plasma energy and plasma momentum in the divertor. The case with a high seeding rate predicts that increasing seeding rate cannot reach a target temperature lower than 2.5eV , which is the required temperature for strong plasma–molecule interactions. Thus, the plasma–molecule interactions may not be important in the divertor during nitrogen seeding. This work also studies the parallel forces including (1) force due to the parallel electric field, (2) friction forces, (3) ion- and electron-thermal forces, and (4) collisional reactions (e.g. charge exchange recombination and ionisation). It is found that the friction force between nitrogen ions and other particle species (primarily D+ ) is the dominant force towards the target, while ion- and electron-thermal forces are the dominant force pushing nitrogen ions back to upstream. Parallel forces determine the parallel distribution of nitrogen impurities, and therefore decide the region of nitrogen radiation.

Dental, skeletal and soft tissue changes after bimaxillary protrusion treatment with temporary anchorage devices using different retraction mechanics

BackgroundTemporary anchorage devices (TADs), which are absolute anchorage, are used for retraction of the anterior teeth in cases of severe bimaxillary protrusion. There have been a number of studies regarding anterior tooth movement using TADs performed by simulation systems and actual treated materials with sliding mechanics. However, there are few studies regarding anterior tooth movement using TADs treated by loop mechanics The purpose of this study was to investigate the effect of TADs in anterior tooth movement using loop mechanics performed in actual cases of bimaxillary protrusion.MethodsThis study was performed in 20 adult patients with severe bimaxillary protrusion treated with four bicuspid extraction with sliding or loop mechanics (n = 10 in each mechanics) using TADs. The skeletal and denture patterns, as well as the soft tissue profile from pre-treatment (T0) and post-treatment (T1) lateral cephalograms, were compared between sliding and closing loop mechanics.ResultsThe use of TADs is useful for retraction of anterior teeth without molar anchorage loss. in sliding and loop mechanics. The upper anterior teeth were less lingual tipped and lower anterior teeth were more upright resulting in less clockwise rotation of the occlusal plane in loop mechanics compared to sliding mechanics.ConclusionAn oblique retraction force vector with a lower point of application causes less intrusion and more lingual tipping of upper anterior teeth as well as more clockwise rotation of the occlusal plane compared to a parallel retraction force vector.

Design and analysis of parallel six-dimensional force sensor based on near-singular characteristics

The high sensitivity six-dimensional force sensor is the core component of intelligent robot force feedback perception, which is related to the structure of the sensor. This paper proposes a new modeling method to chain the near singular eight-branch Stewart mechanism, which indicates the relationship between structural parameters and sensitivity. The new method gains 16 new configurations by innovating the traditional Stewart institution. A configuration with high sensitivity in Fz, Mx and My directions is selected for further study. The theoretical stiffness model and force mapping model show that the sensitivity of the new structure can be amplified by 4 times in specific degrees of freedom. The results show that the nonlinear error and coupling error are 2.77% and 2.26%, respectively. The proposed method can be widely applied in the field of parallel six-dimensional force sensors.

Anisotropic frictional model for an object sliding in a granular media

Several locomotion strategies are based on the anisotropic nature of the forces experienced by the moving body with its environment. We report experiments on the anisotropy of the frictional force experienced by a cylinder moving in a granular medium as a function of the orientation α between the cylinder and its velocity. The component of the force in the direction parallel to the velocity of the cylinder is always higher than the perpendicular component; therefore, the force is anisotropic. While the parallel component increases continuously with the cylinder angle α, we observe that the perpendicular component reaches a maximum value for an orientation of αc≃35°. To rationalize these observations, we have developed a theoretical model, which assumes that the mechanical energy required to move the cylinder is dissipated by friction and establishes a relationship between the parallel and perpendicular force components that is consistent with experiments.

Blood shear stress during the cardiac cycle and endothelial cell orientation and polarity in the carotid artery of male and female mice.

Introduction: Blood flow produces fluid shear stress (SS), a frictional force parallel to the blood flow, on the endothelial cell (EC) layer of the lumen of the vessels. ECs themselves are sensitive to this frictional force in terms of directionality and intensity. The aim of this study was to determine the physiological shear stress value during the cardiac cycle and EC polarity and orientation from blood flow in healthy male and female mouse carotid artery. Methods: Experimentation is done on anesthetized male and female 8-week-old C5BL/6J mice. In vivo measurements of maximum blood velocity and vessel diameter in diastole and systole were performed on the right common carotid artery by Doppler ultrasound imaging. Blood viscosity (total and plasmatic) and hematocrit were determined on blood samples. For SS calculation, we developed a new method assuming heterogenous blood flow, i.e., a red cell central plug flow surrounded by a peripheral plasma sheath flow, and computing SS from vessel diameter and hemodynamical measurements (maximal blood velocity, hematocrit and plasmatic viscosity). Results: Results were compared with the classical method assuming a homogenous blood flow with constant apparent total blood viscosity. EC polarity and orientation were determined ex vivo on the carotid endothelium by confocal imaging after labeling of the EC nucleus and Golgi apparatus. Diastolic and systolic SS were 6 ± 2.5 Pa and 30 ± 6.5 Pa, respectively. Total blood and plasmatic viscosity was 4 ± 0.5 cP and 1.27 cP, respectively. ECs were polarized and significantly oriented against blood flow. No sex difference was identified.

Engineering Nano/Microscale Chiral Self-Assembly in 3D Printed Constructs

HighlightsTo precisely engineer complex helical hierarchies at nano/microscales, reactive inks with chiral nematic anisotropy are designed for 3D printing.The phase transformations and chiral evolution in response to parallel and orthogonal shear forces are meticulously investigated to finely adjust the 3D printing parameters for programming oriented chiral assemblies.The interplay between chiral relaxation dynamics and photo-polymerization kinetics is finely tuned to enable well-controlled chiral reformation, while simultaneously ensuring high print quality.

The Force-Dependent Mechanism of an Integrin α4β7-MAdCAM-1 Interaction.

The interaction between integrin α4β7 and mucosal vascular addressin cell-adhesion molecule-1 (MAdCAM-1) facilitates the adhesion of circulating lymphocytes to the surface of high endothelial venules in inflammatory bowel diseases (IBDs). Lymphocyte adhesion is a multistep cascade involving the tethering, rolling, stable adhesion, crawling, and migration of cells, with integrin α4β7 being involved in rolling and stable adhesions. Targeting the integrin α4β7-MAdCAM-1 interaction may help decrease inflammation in IBDs. This interaction is regulated by force; however, the underlying mechanism remains unknown. Here, we investigate this mechanism using a parallel plate flow chamber and atomic force microscopy. The results reveal an initial increase in the lifetime of the integrin α4β7-MAdCAM-1 interaction followed by a decrease with an increasing force. This was manifested in a two-state curve regulated via a catch-bond-slip-bond conversion regardless of Ca2+ and/or Mg2+ availability. In contrast, the mean rolling velocity of cells initially decreased and then increased with the increasing force, indicating the flow-enhanced adhesion. Longer tether lifetimes of single bonds and lower rolling velocities mediated by multiple bonds were observed in the presence of Mg2+ rather than Ca2+. Similar results were obtained when examining the adhesion to substrates co-coated with chemokine CC motif ligand 25 and MAdCAM-1, as opposed to substrates coated with MAdCAM-1 alone. In conclusion, the integrin α4β7-MAdCAM-1 interaction occurs via ion- and cytokine-dependent flow-enhanced adhesion processes and is regulated via a catch-bond mechanism.

Effect of shape of back support adjustment on shear force applied to buttocks when tilt-in-space and reclining functions are combined in wheelchairs

Purpose This study aimed to investigate the effect of the shape of the back support adjustment on the shear force applied to the buttocks when tilt-in-space and reclining functions are combined in wheelchairs. Materials and Methods Fourteen healthy adult men were included in the study. The force plate was used to measure the parallel force as shear force. The measurement posture, leaning against the back support of an experimental chair, was a comfortable sitting posture. The tilt-in-space angle was set to 15°. The back support was inclined at increasing angles, starting from the upright position (IUP), proceeding to a fully reclined position (FRP), and returning to the upright position (RUP). The experimental conditions were as follows: adjusting the back-support shape (aBS) and non-adjusting the back support shape (non-aBS). Results Positive values indicate a parallel force applied to the buttocks posteriorly. The average values in the aBS condition were 3.4 ± 2.3, 13.6 ± 2.2, and −7.1 ± 2.4% body weight in the IUP, FRP, and RUP, respectively. The average values in the non-aBS condition were 3.8 ± 2.5, 11.4 ± 2.1, and −6.2 ± 3.1% body weight in the IUP, FRP, and RUP, respectively. There were significant differences between the two conditions in FRP (p < 0.01). Conclusion These findings suggest that the shape of the back support adjustment function increased the shear force applied to the buttocks posteriorly when the back support was inclined backwards using both the tilt-in-space and reclining functions.

Stiffness analysis and parameter optimization of six-dimensional force sensor with the novel circular flexible spherical joint

As robot haptic provider, six-dimensional force sensors are an indispensable component of industrial intelligence. To address the disadvantages of the existing six-dimensional force sensor, a novel circular flexible spherical joint is proposed, its stiffness model is derived by numerical analysis method and microelement, and the stiffness model of the circular flexible spherical joint is verified by finite element simulation. A parallel six-dimensional force sensor is designed based on a circular flexible spherical joint, and a mathematical model of the sensor was established. Based on the genetic algorithm, the structural optimization design of the circular flexible spherical joint was performed, and the structural parameters of the circular flexible spherical joints are obtained by analyzing isotropy. Finally, according to the optimization results, a sensor was developed and calibration experiments were carried out. The experimental results show that the maximum error of the sensor is 1.85%, which verifies the effectiveness of the mathematical model of the sensor, which has high measurement accuracy and can accurately measure the six-dimensional external force and moment applied to the sensor.

Reduction of edge beading defects on rectangular substrates using a rotation about an axis perpendicular to the spin axis

Here, we consider the coating dynamics of a binary liquid on a rectangular substrate that both spins and rotates about an axis perpendicular to the spin axis. This rotation causes not only a force parallel to the substrate but a large normal force on the horizontal region of the substrate, known as elevated gravity. This force not only smooths out any irregularities in the film, it also causes an increase in the evaporation rate, resulting in a higher viscosity, which in turn decreases the thinning of the coating due to centrifugal forces. We derive the lubrication form of the governing equations for such a geometry that includes surface tension and body forces acting on the liquid due to the spinning and rotation of the substrate, as well as viscosity changes and surface tension gradients due to evaporation of the volatile component. The resultant coupled nonlinear differential equations are solved numerically using an efficient alternating direction implicit method. The numerical results indicate that the rotation can reduce edge beading defects for parameters typically employed by the spin coating industry. It is particularly effective for small average coating thicknesses, where it can almost eliminate edge beading. Surface tension gradients, which act in the post rotation dry phase, can also further affect edge beading, particularly in the corner regions.

A comparison of the shear bond strength between denture teeth and denture base resins manufactured either conventionally or with a 3D printer

Statement of problemLimited information is available on the shear bond strength (SBS) between denture teeth and denture base resins fabricated using a stereolithography (SLA) 3-dimensional (3D) printer. PurposeThe purpose of this in vitro study was to evaluate the SBS between denture teeth and the denture base resins produced with the conventional method and with a 3D printer. Material and methodsConventional or 3D printed denture teeth were included in the study. The denture base resins were manufactured either conventionally or with a 3D printer. Four subgroups were tested: conventional teeth-conventional base resin (CT-CB), conventional teeth-printed base resin (CT-PB), printed teeth-conventional base resin (PT-CB), and printed teeth-printed base resin (PT-PB). The maxillary molars were combined with Ø5×2.5-mm-cylindrical denture base resin. Shear bond testing was performed by applying a parallel force to the denture teeth-denture base resin interface by using a blade-edge chisel with a crosshead speed of 1 mm/min until failure occurred. SBS and elastic modulus (EM) were recorded. One-way ANOVA followed by the Dunnett T3 post hoc test was used for the statistical analysis (α=.05). The failure modes of the specimens were also analyzed. ResultsA statistically significant difference (P<.05) was found between the evaluated groups for the SBS and EM values. PT-PB showed the highest SBS value (15.4 ±2.7 MPa), and CT-PB showed the lowest (0.9 ±0.7 MPa). The PT-CB group showed the highest EM value (62.74 ±20.80 GPa), and the CT-PB group showed the lowest (29.46 ±28.40 GPa). The CT-CB and CT-PB specimens showed mostly adhesive failure; none of the PT-PB specimens showed adhesive failure. ConclusionsThree-dimensional printing led to a better bond between the denture teeth and the denture base resin compared with the conventional method. Although these findings need to be supported by clinical studies, the use of 3D printers is appropriate in the production of denture teeth and denture bases.

Insight into the Viscoelasticity of Self-Assembling Smectic Liquid Crystals of Colloidal Rods from Active Microrheology Simulations.

The rheology of colloidal suspensions is of utmost importance in a wide variety of interdisciplinary applications in formulation technology, determining equally interesting questions in fundamental science. This is especially intriguing when colloids exhibit a degree of long-range positional or orientational ordering, as in liquid crystals (LCs) of elongated particles. Along with standard methods, microrheology (MR) has emerged in recent years as a tool to assess the mechanical properties of materials at the microscopic level. In particular, by active MR one can infer the viscoelastic response of a soft material from the dynamics of a tracer particle being dragged through it by external forces. Although considerable efforts have been made to study the diffusion of guest particles in LCs, little is known about the combined effect of tracer size and directionality of the dragging force on the system's viscoelastic response. By dynamic Monte Carlo simulations, we apply active MR to investigate the viscoelasticity of self-assembling smectic (Sm) LCs consisting of rodlike particles. In particular, we track the motion of a spherical tracer whose size is varied within a range of values matching the system's characteristic length scales and being dragged by constant forces that are parallel, perpendicular, or at 45° to the nematic director. Our results reveal a uniform value of the effective friction coefficient as probed by the tracer at small and large forces, whereas a nonlinear, force-thinning regime is observed at intermediate forces. However, at relatively weak forces the effective friction is strongly determined by correlations between the tracer size and the structure of the host fluid. Moreover, we also show that external forces forming an angle with the nematic director provide additional details that cannot be simply inferred from the mere analysis of parallel and perpendicular forces. Our results highlight the fundamental interplay between tracer size and force direction in assessing the MR of Sm LC fluids.

Pleobot: a modular robotic solution for metachronal swimming

Metachronal propulsion is widespread in aquatic swarming organisms to achieve performance and maneuverability at intermediate Reynolds numbers. Studying only live organisms limits our understanding of the mechanisms driving these abilities. Thus, we present the design, manufacture, and validation of the Pleobot—a unique krill-inspired robotic swimming appendage constituting the first platform to study metachronal propulsion comprehensively. We combine a multi-link 3D printed mechanism with active and passive actuation of the joints to generate natural kinematics. Using force and fluid flow measurements in parallel with biological data, we show the link between the flow around the appendage and thrust. Further, we provide the first account of a leading-edge suction effect contributing to lift during the power stroke. The repeatability and modularity of the Pleobot enable the independent manipulation of particular motions and traits to test hypotheses central to understanding the relationship between form and function. Lastly, we outline future directions for the Pleobot, including adapting morphological features. We foresee a broad appeal to a wide array of scientific disciplines, from fundamental studies in ecology, biology, and engineering, to developing new bio-inspired platforms for studying oceans across the solar system.

Combining DNA scaffolds and acoustic force spectroscopy to characterize individual protein bonds

Single-molecule data are of great significance in biology, chemistry, and medicine. However, new experimental tools to characterize, in a multiplexed manner, protein bond rupture under force are still needed. Acoustic force spectroscopy is an emerging manipulation technique which generates acoustic waves to apply force in parallel on multiple microbeads tethered to a surface. We here exploit this configuration in combination with the recently developed modular junctured-DNA scaffold that has been designed to study protein-protein interactions at the single-molecule level. By applying repetitive constant force steps on the FKBP12-rapamycin-FRB complex, we measure its unbinding kinetics under force at the single-bond level. Special efforts are made in analyzing the data to identify potential pitfalls. We propose a calibration method allowing in situ force determination during the course of the unbinding measurement. We compare our results with well-established techniques, such as magnetic tweezers, to ensure their accuracy. We also apply our strategy to study the force-dependent rupture of a single-domain antibody with its antigen. Overall, we get a good agreement with the published parameters that have been obtained at zero force and population level. Thus, our technique offers single-molecule precision for multiplexed measurements of interactions of biotechnological and medical interest.