Passive Dynamic System Research Articles

Accuracy of dental implant placement using different dynamic navigation and robotic systems: an in vitro study

Computer-aided implant surgery has undergone continuous development in recent years. In this study, active and passive systems of dynamic navigation were divided into active dynamic navigation system group and passive dynamic navigation system group (ADG and PDG), respectively. Active, passive and semi-active implant robots were divided into active robot group, passive robot group and semi-active robot group (ARG, PRG and SRG), respectively. Each group placed two implants (FDI tooth positions 31 and 36) in a model 12 times. The accuracy of 216 implants in 108 models were analysed. The coronal deviations of ADG, PDG, ARG, PRG and SRG were 0.85 ± 0.17 mm, 1.05 ± 0.42 mm, 0.29 ± 0.15 mm, 0.40 ± 0.16 mm and 0.33 ± 0.14 mm, respectively. The apical deviations of the five groups were 1.11 ± 0.23 mm, 1.07 ± 0.38 mm, 0.29 ± 0.15 mm, 0.50 ± 0.19 mm and 0.36 ± 0.16 mm, respectively. The axial deviations of the five groups were 1.78 ± 0.73°, 1.99 ± 1.20°, 0.61 ± 0.25°, 1.04 ± 0.37° and 0.42 ± 0.18°, respectively. The coronal, apical and axial deviations of ADG were higher than those of ARG, PRG and SRG (all P < 0.001). Similarly, the coronal, apical and axial deviations of PDG were higher than those of ARG, PRG, and SRG (all P < 0.001). Dynamic and robotic computer-aided implant surgery may show good implant accuracy in vitro. However, the accuracy and stability of implant robots are higher than those of dynamic navigation systems.

On discrete-time dissipative port-Hamiltonian (descriptor) systems

Port-Hamiltonian (pH) systems have been studied extensively for linear continuous-time dynamical systems. This manuscript presents a discrete-time pH descriptor formulation for linear, completely causal, scattering passive dynamical systems based on the system coefficients. The relation of this formulation to positive and bounded real systems and the characterization via positive semidefinite solutions of Kalman–Yakubovich–Popov inequalities is also studied.

Accuracy of different registration areas using active andpassive dynamic navigation systems in dental implant surgery: An in vitro study.

To gauge the relative accuracy of the use of passive and active dynamic navigation systems when placing dental implants, and to determine how registration areas affect the performance of these systems. Eighty implants were assigned to be placed into 40 total resin mandible models missing either the left or right first molars using either passive or active dynamic navigation system approaches. U-shaped tube registration devices were fixed in the edentulous site for 20 models each on the left or right side. Planned and actual implant positions were superimposed to assess procedural accuracy, and parameters including 3D entry deviation, angular deviation, and 3D apex deviation were evaluated with Mann-Whitney U tests and Wilcoxon signed-rank tests. Respective angular, entry, and apex deviation values of 1.563 ± 0.977°, 0.725 ± 0.268 mm, and 0.808 ± 0.284 mm were calculated for all included implants, with corresponding values of 1.388 ± 1.090°, 0.789 ± 0.285 mm, and 0.846 ± 0.301 mm in the active group and 1.739 ± 0.826°, 0.661 ± 0.236 mm, and 0.769 ± 0.264 mm in the passive group. Only angular deviation differed significantly among groups, and the registration area was not associated with any significant differences among groups. Passive and active dynamic navigation approaches can achieve comparable in vitro accuracy. Registration on one side of the missing single posterior tooth area in the mandible can complete single-tooth implantation on both sides of the posterior teeth, highlighting the promise of further clinical research focused on this topic.

Requisites on material viscoelasticity for exceptional points in passive dynamical systems

Recent progress in non-Hermitian physics and the notion of exceptional point (EP) degeneracies in elastodynamics have led to the development of novel metamaterials for the control of elastic wave propagation, hypersensitive sensors, and actuators. The emergence of EPs in a parity-time symmetric system relies on judiciously engineered balanced gain and loss mechanisms. Creating gain requires complex circuits and amplification mechanisms, making engineering applications challenging. Here, we report strategies to achieve EPs in passive non-Hermitian elastodynamic systems with differential loss derived from viscoelastic materials. We compare different viscoelastic material models and show that the EP emerges only when the frequency-dependent loss-tangent of the viscoelastic material remains nearly constant in the frequency range of operation. This type of loss tangent occurs in materials that undergo stress-relaxation over a broad spectrum of relaxation times, for example, materials that follow the Kelvin–Voigt fractional derivative (KVFD) model. Using dynamic mechanical analysis, we show that a few common viscoelastic elastomers, such as polydimethylsiloxane and polyurethane rubber, follow the KVFD behavior such that the loss tangent becomes almost constant after a particular frequency. The material models we present and the demonstration of the potential of a widely available material system in creating EPs pave the way for developing non-Hermitian metamaterials with hypersensitivity to perturbations or enhanced emissivity.

Increasing physical activity in the vehicle with an interactive seating system in a male sample

An interactive seating system (IASS) was compared to a state-of-the-art massage seating system (MS) regarding the potential of reducing health risks from prolonged sitting in the vehicle. The study investigated if the systems (1) increase heart rate, which is associated with reduced metabolic and cardiovascular risks; (2) activate muscles with the potential to reduce musculoskeletal pain; (3) influence seating comfort and discomfort. The systems were compared in a passenger scenario in a laboratory study (30 male subjects). Only the use of the IASS significantly elevated the heart rate. Muscle activity showed tendencies to increase in the lower back only while using the MS. In comparison, the IASS activated all six captured muscles. Significantly less discomfort was found for the IASS compared to the MS. In comparison to the MS, the IASS showed a substantially higher potential for reducing health risks from static sitting in the vehicle. Practitioner summary: This laboratory study compared the effects of a novel automotive interactive seating system with those of a state-of-the-art massage seating system. Muscle activity, heart rate and discomfort indicated that the IASS has a significantly higher potential to reduce health risks associated with static seating in a vehicle. Abbreviations: AB: air bladder; AC: active condition; ADSS: active dynamic seating system; CLBP: chronic lumbar back pain; ECG: electrocardiography; EMG: electromyography; IASS: interactive seating system; MS: massage seating system; PC: passive condition; PDSS: passive dynamic seating system; RMS: rootmean-square; TI: time interval

The accuracy and learning curve of active and passive dynamic navigation-guided dental implant surgery: An in vitro study

Objectives: Infrared dynamic navigation systems can be categorized into active and passive based on whether the surgical instruments can emit or only reflect light. This in vitro study aimed to compare the accuracy of implant placement and the learning curve of both active and passive dynamic navigation systems, using different registration methods.Methods: Implants (n = 704) were placed in 64 sets of models and divided into active (Yizhime, DCARER, Suzhou, China) and passive (Iris-Clinic, EPED, Kaohsiung, China) dynamic navigation groups. Both marker point-based registration (M-PBR) and feature point-based registration (F-PBR) were employed for the two groups. Based on preoperative and postoperative cone-beam computed tomography imaging, the coronal, midpoint, apical, and angular deviations were analyzed from 2D and 3D views. The operation time was recorded for each group.Results: The active dynamic navigation group exhibited significantly higher accuracy than the passive dynamic navigation group (angular deviation, 4.13 ± 2.39° versus 4.62 ± 3.32°; coronal global deviation, 1.48 ± 0.60 versus 1.86 ± 1.12 mm; apical global deviation, 1.75 ± 0.81 versus 2.20 ± 1.68 mm, respectively). Significant interaction effects were observed for both registration methods and four quadrants with different dynamic navigation systems. Learning curves for the two dynamic navigation groups approached each other after 12 procedures, and finally converged after 27 procedures.Conclusions: The accuracy of active dynamic navigation system was superior to that of passive dynamic navigation system. Different combinations of dynamic navigation systems, registration methods, and implanted quadrants displayed various interactions.Clinical significance: Our findings could provide guidance for surgeons in choosing an appropriate navigation system in various implant surgeries. Furthermore, the time required by surgeons to master the technique was calculated. Nevertheless, there are certain limitations in this in vitro study, and therefore further research is required.

Generalization of the Concept of Bandwidth

In the sciences and engineering, there is no generally accepted definition of bandwidth beyond those used to characterize low-loss linear time-invariant systems of low order operating at steady-state. In fact, the concept of bandwidth is often subject to interpretation depending upon context and the requirements of a specific community. The focus of this work is to formulate this concept for a general class of passive oscillatory dynamical systems, including but not limited to mechanical, structural, acoustic, electrical, and optical. Typically, the (linearized) bandwidth of these systems is determined by the half-power (-3 dB) method, and the result is often referred to as “half-power bandwidth.” The fundamental assumption underlying this definition is that the system performance degrades once its power decreases by 50%; moreover, there are restrictive conditions, rarely met, that render a system amenable to the use of this approach, such as linearity, low-dimensionality, low-loss, and stationary output. Here the concept of root mean square (RMS) bandwidth is considered, justified by the Fourier uncertainty principle, to generalize the definition of bandwidth to encompass linear/nonlinear, single/multi-mode, low/high loss and time-varying/invariant oscillating systems. By tying the bandwidth of an oscillatory dynamical system directly to its dissipative capacity, one can formulate a definition based solely on its transient energy evolution, effectively circumventing the previous restrictions. Further, applications are given that highlight the limitations of the traditional half-power bandwidth; these include a Duffing oscillator with hardening nonlinearity, and a bi-stable, geometrically nonlinear oscillator with tunable hardening or softening nonlinearity. The resulting energy-dependent bandwidth computations are compatible with the nonlinear dynamics of these systems, since at low energies they recover the (linearized) half-power bandwidth, whereas at high energies they accurately capture the nonlinear physics. Moreover, the bandwidth computation is directly tied to nonlinear harmonic generation in the transient dynamics, so that the contributions to the bandwidth of the individual harmonics and of inter-harmonic targeted energy transfers can be directly quantified and studied. The new bandwidth definition proposed in this work has broad applicability and can be regarded as a generalization of the traditional linear half-power bandwidth which is used widely in the sciences and engineering.

Assessing the impact of the envelope’s dynamic thermal transmittance on dwelling’s cooling performance with respect to the occupants’ thermal comfort

Regarding the constantly increasing cooling demands in the building sector due to climate change effects, strategies for reducing the cooling demands are vital. Among the major strategies is thermal insulation, however, overheating phenomenon during the summer months is a frequent problem in over-insulated buildings. In this study, a typical dwelling was examined in ten Mediterranean regions concerning the influence of the envelope’s thermal transmittance on its cooling performance. A passive dynamic insulation system was also developed and implemented, while its cooling performance was optimized through a rule-based control strategy for the cooling period of each region. Regarding always the occupants’ thermal comfort perception, increased cooling loads were recorded for most of the regions with the highly insulated envelope, which reached up to 12% for the city of Damascus, while in the hot-desert regions the picture is reversed. The dynamic insulation system displayed great potential, as its efficiency was maximum with the super-insulated envelope, resulting in up to 61% less cooling demands for the city of Seville. Finally, by disregarding the occupants’ interference in the cooling system, as most of the national legislations do, higher cooling needs are calculated, that in our study reached up to 49% for the super-insulated envelope.

Discretization and Model Reduction Error Estimation of Interconnected Dynamical Systems

In this paper a novel approach for estimating both discretization and model order reduction error is presented. Discretization is carried out using finite element method. Finite element models are converted to linear time-invariant state space models. Using the generalized square root balanced truncation method a series of reduced models are obtained. It is shown that for special class of passive and dissipative dynamical systems upper a-posteriori reduction error bound can be modeled less conservatively. Estimation of both discretization and model reduction error is further refined using v-gap metric. Quality of the obtained reduced order model is verified in the frequency domain. The proposed error estimation approach is demonstrated on a numerical example.

A Reduced Order Model Approach to Inverse Scattering in Lossy Layered Media

We introduce a reduced order model (ROM) methodology for inverse electromagnetic wave scattering in layered lossy media, using data gathered by an antenna which generates a probing wave and measures the time resolved reflected wave. We recast the wave propagation problem as a passive infinite-dimensional dynamical system, whose transfer function is expressed in terms of the measurements at the antenna. The ROM is a low-dimensional dynamical system that approximates this transfer function. While there are many possible ROM realizations, we are interested in one that preserves passivity and in addition is: (1) data driven (i.e., is constructed only from the measurements) and (2) it consists of a matrix with special sparse algebraic structure, whose entries contain spatially localized information about the unknown dielectric permittivity and electrical conductivity of the layered medium. Localized means in the intervals of a special finite difference grid. The main result of the paper is to show with analysis and numerical simulations that these unknowns can be extracted efficiently from the ROM.

초정밀 장비의 진동 저감을 위한 능동형 동조질량감쇠기

In an environment where ultra-high-precision equipment is used, vibration inevitably occurs due to various factors. These vibrations generate fatal effects, such as defect generation and reduced production yield, on ultra-high-precision production equipment. Among the multiple methods for solving vibration problems, a Tuned Mass Damper (TMD) is a useful technique that reduces vibration without changing the existing structure by attaching a passive dynamic system consisting of additional mass, spring, and damper. However, it is difficult to realize fine-tuning of the system parameters for optimal performance because the passive elements have structural limitations. An active TMD, which has a form wherein sensors, actuators, and a control device are added to the passive TMD structure, was introduced. It has higher performance than passive TMD because dynamic characteristics can be induced to stable and highly damped by a well-designed control algorithm realized by software in the control device. In this study, an active TMD was developed utilizing passive TMD with a voice coil actuator and attached to the center of both end fixed beam that assumed a single-degree-of-freedom structure. A dual-loop control algorithm using a non-minimum phase system was designed for a high-damped response while retaining stability. The modal test was performed for experimental evaluation and excellent performance of active TMD was verified.

Energy Reduction, Daylight and View Quality Assessment of a Passive Dynamic Facade in Hot Arid Climate

Purpose This research aims to create a passive dynamic system with immediate responses to environmental conditions without needing an energy source to operate and reduce operation and maintenance costs. Design/Methodology/Approach There has been growing awareness in recent years of the energy consumption and interior environmental comfort of buildings. Substantial evaluation of the building envelope and indoor human experience is required to develop sustainable solutions, create a responsive system that enhances building performance and human comfort in terms of energy consumption and daylight quality. In this paper, a new proposed advanced integrated façade called a passive dynamic shading device (PDSD) is revealed. The system is designed to contribute to energy reduction, daylight availability, and view quality through its ability to change position and placement to respond and adapt to new climate conditions. The thermal expansion phenomenon was used in the actuation process, with heat-activated actuators that correspond to specific dry-bulb temperatures. This paper concisely demonstrates the functional mechanism and performance of the PDSD. Sophisticated energy and daylight simulations have been executed to distinguish between three case studies. Each case represents one architectural option: 1- without shading devices. 2- with conventional fix shading devices. 3- PDSD. Findings The result shows the PDSD can efficiently reduce overall energy consumption by up to 50%, increase the amount and quality of daylight by up to 60% compared to fixed shading devices, and obstruct the view from the interior 22% of the year. Research Limitations/Implications The limitation was with the thermal expansion mechanism since it expands due to the rise of temperature, which led to system movement in the ineffective time of a day. Social/Practical Implications The study is Creating a new affordable dynamic system comparing with an active dynamic façade system. The system is applicable on any building scale with simple construction. Originality/Value Unlike other dynamic façade system studies, in this study, the goal is to create a new passive system using the thermal expansion phenomenon and evaluate its effectiveness on energy reduction, daylight availability, and view quality.

The Catalytic Mechanics of Dynamic Surfaces: Stimulating Methods for Promoting Catalytic Resonance

Transformational catalytic performance in rate and selectivity is obtainable through catalysts that change on the time scale of catalytic turnover frequency. In this work, dynamic catalysts are defined in the context and history of forced and passive dynamic chemical systems, with the classification of unique catalyst behaviors based on temporally relevant linear scaling parameters. The conditions leading to the catalytic rate and selectivity enhancement are described as modifying the local electronic or steric environment of the active site to independently accelerate sequential elementary steps of an overall catalytic cycle. These concepts are related to physical systems and devices that stimulate a catalyst using light, vibrations, strain, and electronic manipulations including electrocatalysis, back-gating of catalyst surfaces, and introduction of surface electric fields via solid electrolytes and ferroelectrics. These catalytic stimuli are then compared for the capability to improve catalysis across some of the most important chemical challenges for energy, materials, and sustainability.

Topology Optimization of Rigid-Body Systems Considering Collision Avoidance

Abstract Passive dynamic mechanisms can perform simple robotic tasks without requiring actuators and control. In previous research, a computational design method was introduced that integrates dynamic simulation to evaluate and evolve configurations of such mechanisms. It was shown to find multiple solutions of passive dynamic brachiating robots (Stöckli and Shea, 2017, “Automated Synthesis of Passive Dynamic Brachiating Robots Using a Simulation-Driven Graph Grammar Method,” J. Mech. Des. 139(9), p. 092301). However, these solutions are limited, since bodies are modeled only by their inertia properties and thus lack a shape embodiment. This paper presents a method to generate rigid-body topologies based on given inertia properties. The rule-based topology optimization method presented guarantees that the topology is manifold, meaning that it has no disconnected parts, while still connecting all joints that need to be part of the body. Furthermore, collisions with the environment, as well as with other bodies, during their predefined motion trajectories are avoided. A collision matrix enables efficient collision detection as well as the calculation of the swept area of one body in the design space of another body by only one matrix–vector multiplication. The presented collision avoidance method proves to be computationally efficient and can be adopted for other topology optimization problems. The method is shown to solve different tasks, including a reference problem as well as passive dynamic brachiating mechanisms. Combining the presented methods with the simulation-driven method from Stöckli and Shea (2017, “Automated Synthesis of Passive Dynamic Brachiating Robots Using a Simulation-Driven Graph Grammar Method,” J. Mech. Des. 139(9), p. 092301), the computational design-to-fabrication of passive dynamic systems is now possible and solutions are provided as STL files ready to be 3D-printed directly.

Stabilization of Passive Dynamical Systems with Actuator and Sensor Disturbances

We analyze stabilizability of passive dynamical systems subject to actuator and sensor disturbances. New sufficient conditions are given for the conventional static output feedback, which is used to stabilize passive systems, to guarantee the (integral) input-to-state stability property with respect to the disturbances. As an illustrative example application of the obtained results to robust state observer redesign is considered.

Adaptive Mitigation of Multi-Virus Propagation: A Passivity-Based Approach

Malware propagation poses a growing threat to networked systems, such as computer networks and cyberphysical systems. Current approaches to defend against malware propagation are based on patching or filtering susceptible nodes at a fixed rate. When the propagation dynamics are unknown or uncertain, however, the static rate that is chosen may be either insufficient to remove all viruses or too high, incurring additional performance cost. In this paper, we formulate adaptive strategies for mitigating multiple malware epidemics when the propagation rate is unknown, using patching and filtering-based defense mechanisms. In order to identify conditions for ensuring that all viruses are asymptotically removed, we show that the malware propagation, patching, and filtering processes can be modeled as coupled passive dynamical systems. We prove that the patching rate required to remove all viruses is bounded above by the passivity index of the coupled system, and formulate the problem of selecting the minimum-cost mitigation strategy. Our results are evaluated through a numerical study.

Vibration control of imbalanced Jeffcott rotor by virtual passive dynamic absorber with optimal parameter values

Today, dynamic absorbers are widely used to control vibrations of the systems that are being excited by the harmonic forces. In this paper, the usage of the magnetic force as virtual dynamic absorber for vibration control in rotary systems is investigated. In order to examine this new method, two different types of passive dynamic absorber systems are applied to control imbalanced Jeffcott rotor vibrations. In the first type of the absorber system, damper is located between the absorber mass and the disk and in the second type, it is located between the absorber mass and the ground. Then, the optimal parameters of absorber system, stiffness and damping have been analytically achieved by using two fixed points theory. Moreover, for further reduction of the vibration amplitude, combined paths have been designed for rotor frequency response. Finally, in order to evaluate the obtained results, the experimental data of our virtual dynamic absorbers were compared with simulation results and it is found that the vibration amplitude of rotor was efficiently limited in this case. Furthermore, the second type of the absorber system with equal mass ratio to the first type of the absorber system was more efficient than the first one in reduction of the amplitude of vibrations. Our findings show that the second absorber transfer more force than the first one since the second absorber connects chasis of system with damper. Therefore, it is recommended to apply the first absorber after the first resonance.

Automated Synthesis of Passive Dynamic Brachiating Robots Using a Simulation-Driven Graph Grammar Method

Passive dynamic systems have the advantage over conventional robotic systems that they do not require actuators and control. Brachiating, in particular, involves the swinging motion of an animal from one branch to the next. Such systems are usually designed manually by human designers and often are bio-inspired. However, a computational design approach has the capability to search vast design spaces and find solutions that go beyond those possible by manual design. This paper addresses the automated design of passive dynamic systems by introducing a graph grammar-based method that integrates dynamic simulation to evaluate and evolve configurations. In particular, the method is shown to find different, new solutions to the problem of the design of two-dimensional passive, dynamic, continuous contact, brachiating robots. The presented graph grammar rules preserve symmetry among robot topologies. A separation of parametric multi-objective optimization and topologic synthesis is proposed, considering four objectives: number of successful swings, deviation from cyclic motion, required space, and number of bodies. The results show that multiple solutions with varying complexity are found that trade-off cyclic motion and the space required. Compared to research on automated design synthesis of actuated and controlled robotic systems, this paper contributes a new method for passive dynamic systems that integrates dynamic simulation.

Designing passive dynamic walking robots for additive manufacture

Purpose Ongoing research in computational design synthesis of passive dynamic systems aims to automatically generate robotic configurations based on a given task. However, an automated design-to-fabrication process also requires a flexible fabrication method. This paper aims to explore designing and fabricating passive dynamic walking robots and all necessary components using single-material fused deposition modeling (FDM). Being able to fabricate all components of a robot using FDM is a step toward the goal of automated design and fabrication of passive dynamic robots. Design/methodology/approach Two different configurations of passive dynamic walking robots are re-designed to be fabricated using FDM. Different robotic joint assemblies are designed and tested. To arrive at feasible solutions, a modular design approach is chosen and adjustability of components after printing is integrated in the design. Findings The suitability of FDM for printing passive dynamic robots is shown to depend heavily on the sensitivity of the configuration. For one robot configuration, all components are printed in one job and only little assembly is needed after printing. For the second robot configuration, which has a more sensitive gait, a metal bearing is found to increase the performance substantially. Originality/value Printable, monolithic mechatronic systems require multi-material printing, including electronics. In contrast, passive dynamic systems not only have the potential to save energy and component cost compared to actuated systems but can also be fabricated using single-material FDM as demonstrated in this paper.

Evaluation of Mouse Oocyte In Vitro Maturation Developmental Competency in Dynamic Culture Systems by Design and Construction of A Lab on A Chip Device and Its Comparison with Conventional Culture System.

In conventional assisted reproductive technology (ART), oocytes are cultured in static microdrops within Petri dishes that contain vast amounts of media. However, the in vivo environment is dynamic. This study assesses in vitro oocyte maturation through the use of a new microfluidic device. We evaluate oocyte fertilization to the blastocyct stage and their glutathione (GSH) contents in each experimental group. In this experimental study, we established a dynamic culture condition. Immature oocytes were harvested from ovaries of Naval Medical Research Institute (NMRI) mice. Oocytes were randomly placed in static (passive) and dynamic (active) in vitro maturation (IVM) culture medium for 24 hours. In vitro matured oocytes underwent fertilization, after which we placed the pronucleus (PN) stage embryos in microdrops and followed their developmental stages to blastocyst formation after 3 days. GSH content of the in vitro matured oocytes was assessed by monochlorobimane (MCB) staining. We observed significantly higher percentages of mature metaphase II oocytes (MII) in the passive and active dynamic culture systems (DCS) compared to the static group (P<0.01). There were significantly less mean numbers of germinal vesicle (GV) and degenerated oocytes in the passive and active dynamic groups compared to the static group (P<0.01). Fertilization and blastocyst formation rate in the dynamic systems were statistically significant compared to the static cultures (P<0.01). There was significantly higher GSH content in dynamically matured oocytes compared to statically matured oocytes (P<0.01). Dynamic culture for in vitro oocyte maturation improves their developmental competency in comparison with static culture conditions.