Pure Rotation Research Articles

Face mask chips-reinforced sands under monotonic and cyclic torsional shearing

In an effort to enhance engineering infrastructure and reduce environmental waste, the use of COVID-19 face-mask chips (FMC) in sand reinforcement is experimentally explored through drained hollow cylinder torsional shear tests, including monotonic stress paths with different fixed orientation of the principal stress axes and cyclic tests with traffic load and pure principal stress rotation. Fujian sand and Hong Kong CDG sand were used. The monotonic test results indicate that both sands exhibit a strong strength anisotropy, however, although the addition of FMC increases the peak stress ratio to failure of the composites for all tests, the strength anisotropy trends with ασ are not changed. Results from x-Ray CT scanning analyses conducted on FMC-reinforced and unreinforced cylinder sand specimens supported the interpretation of experimental data. Furthermore, the inclusion of FMC induces increased plastic deformation under cyclic loads in all tests, however, the level of these plastic strains is sand-type and stress-level dependent. It was also observed that both sands exhibit non-coaxial characteristics, but the presence of FMC inclusions do not change the non-coaxial trends observed for the pure sands.

A Constitutive Model for Anisotropic Sand Considering Fabric Evolution Under Proportional and Non‐Proportional Loadings

ABSTRACTA critical state plasticity model is proposed to describe the anisotropic sand behaviour under both proportional and non‐proportional loading conditions. An evolving fabric tensor is introduced into the model to reflect the influence of fabric anisotropy on the stress‐strain relation of sand. By employing a fabric‐dependent plastic flow direction, the non‐coaxial response can be simulated in a simple way. A non‐proportional loading mechanism is incorporated to consider the plastic deformation induced by the stress increment tangential to the yield surface. The influence of accumulative plastic strain on the dilatancy function and plastic modulus is properly considered, enabling the model to reasonably capture the evolutions of volumetric and deviatoric strains under both drained and undrained principal stress axes rotation. The model was validated based on the simulations of experimental results for monotonic loading and pure principal stress axes rotation tests covering a wide range of conditions.

Mechanisms of interlayer friction in low-dimensional homogeneous thin-wall shell structures and its strain effect.

Due to the multi-factor coupling effect, the rule of interlayer friction in low-dimensional homogeneous thin-wall shell structures is still unclear. Double walled carbon nanotubes (DWCNTs) having a typical low-dimensional homogeneous thin-wall shell structure are selected for this study. The interlayer friction of numerous chiral DWCNTs is investigated using molecular dynamics simulations to systematically analyze and understand the coupling mechanisms of various factors in interlayer friction. To eliminate the influence of the edge effect, a high-speed pure rotation model is used. The results demonstrate that DWCNTs with varying mismatch angle, interlayer distance, and interfacial radius exhibit distinct interlayer frictions and strain effects, due to the differences in interlayer interaction, atomic vibrational amplitudes, and lattice periods. Theoretical analysis is conducted on the interlayer friction and its strain effect based on the theoretical model. Based on phonon spectrum analysis, the vibrational modes and energy dissipation of DWCNTs with different chiral combinations under various strains are demonstrated. Based on the analysis, physical insight into the variation in friction forces is provided. The findings of this work deepen the understanding of the interlayer friction and strain mechanism and provide a theoretical basis for further exploitation of the strain effect to realize the regulation of nanoelectromechanical devices.

MRSimulator: A cross-platform, object-oriented software package for rapid solid-state NMR spectral simulation and analysis.

The open-source Python package, MRSimulator, is presented as a simple-to-use, fast, versatile, and extendable package capable of simulating one- and higher-dimensional Nuclear Magnetic Resonance (NMR) spectra under static, magic-angle, and variable-angle conditions. High benchmarks in spectral simulations are achieved by assuming that there are no degeneracies in the energy eigenstates, i.e., all dipolar couplings are in the weak limit and that there are no rotational resonances during evolution periods. Under these assumptions, the symmetry pathway formalism is exploited to reduce an NMR method applied to a spin system into a sum of individual transition pathways, whose signals are more efficiently calculated individually than as part of a full-density matrix simulation. To increase numerical efficiencies further, our approach restricts coherence transfer among transitions to pure rotations about an axis in the x-y plane of the rotating frame or through an artificial total mixing operation between selected transitions of adjacent free evolution periods. The assumptions used in this approach are valid for most commonly used solid-state NMR methods. Details of the implementation, along with example code usage, are given, including a least-squares spectral analysis.

Laboratory evaluation of calcareous sand specimens with inclined sedimentary surfaces

Sedimentary processes often produce natural and blown calcareous sands that are deposited in inclined and layered formations. These calcareous sands frequently exist in a complex stress state with rotating principal stress axes that result in intricate mechanical properties. To investigate the mechanical behaviors of calcareous sands with inclined sedimentary surfaces, we developed a device to prepare hollow cylindrical specimens from artificially crushed calcareous sands. By combining this device with a hollow cylindrical torsional shear apparatus, undrained monotonic loading and pure principal stress rotation tests were conducted to investigate the static and dynamic properties of the inherently anisotropic calcareous sands. The results indicate that the shear dilatancy property is related to the principal stress direction; the shear dilatancy of calcareous sand decreases as the direction of the principal stress increases, and the peak stress ratio decreases with increasing principal stress direction and increases with increasing deposition direction. In the precyclic loading period, increases in the deposition direction led to increases in the stabilities of the specimens and decreases in excess pore pressure accumulation, which further affect the dynamic shear modulus and damping ratio of the calcareous sand. In the late stage of cyclic loading, the inherent anisotropies of the specimens are destroyed, so that the excess pressure and hysteresis loop characteristics start to converge.

Do Strong Bars Exhibit Strong Noncircular Motions?

Galactic bars induce characteristic motions deviating from pure circular rotation, known as noncircular motions. As bars are nonaxisymmetric structures, stronger bars are expected to show stronger noncircular motions. However, this has not yet been confirmed by observations. We use a bisymmetric model to account for the stellar kinematics of 14 barred galaxies obtained with the Multi-Unit Spectroscopic Explorer and characterize the degree of bar-driven noncircular motions. For the first time, we find tight relations between the bar strength (bar ellipticity and torque parameter) and the degree of stellar noncircular motions. We also find that the bar strength is strongly associated with the stellar radial velocity driven by bars. Our results imply that stronger bars exhibit stronger noncircular motions. Noncircular motions beyond the bar are found to be weak, comprising less than 10% of the strength of the circular motions. We find that galaxies with a boxy/peanut (B/P) bulge exhibit a higher degree of noncircular motions and higher stellar radial velocity compared to galaxies without a B/P bulge, by 30% ∼ 50%. However, this effect could be attributed to the presence of strong bars in galaxies with a B/P feature in our sample, which would naturally result in higher radial motions, rather than to the B/P bulges themselves inducing stronger radial motions. More observational studies, utilizing both stellar and gaseous kinematics on statistically complete samples, along with numerical studies are necessary to draw a comprehensive view of the impact that B/P bulges have on bar-driven noncircular motions.

Rotational flow field of a particle-laden fluid on a co-rotating disk

The particle-modified velocity field of a rotating particulate fluid on a co-rotating disk is studied. Unlike a clear fluid, which admits pure rigid-body rotation with a zero radial velocity component, it is shown here that an unbounded particle-laden fluid does not admit pure rigid-body rotation. An exact solution is given for an unbounded rotating particle-laden fluid, which contains a non-zero radial velocity component and cannot meet the no-slip boundary conditions on a disk co-rotating at the same angular velocity. Explicit leading-order solutions are derived for the particle-modified velocity field of a rotating particulate fluid on a co-rotating disk. It is shown that the disturbed radial and azimuthal velocities due to the co-rotating disk are oscillatory and decay exponentially with the distance from the disk, while the disturbed axial velocity approaches a constant at infinity. The derived formula is used to discuss the radial, azimuthal, and axial velocities of dispersed particles and their effects on the rotational flow of the rotating particle-laden fluid.

Magnetic Ball Chain Robots for Cardiac Arrhythmia Treatment.

This paper introduces a novel magnetic navigation system for cardiac ablation. The system is formed from two key elements: a magnetic ablation catheter consisting of a chain of spherical permanent magnets; and an actuation system comprised of two cart-mounted permanent magnets undergoing pure rotation. The catheter design enables a large magnetic content with the goal of minimizing the footprint of the actuation system for easier integration with the clinical workflow. We present a quasi-static model of the catheter, the design of the actuation units, and their control modalities. Experimental validation shows that we can use small rotating magnets (119mm diameter) to reach cardiac ablation targets while generating clinically-relevant forces. Catheter control using a joystick is compared with manual catheter control. While total task completion time is similar, smoother navigation is observed using the proposed robotic system. We also demonstrate that the ball chain can ablate heart tissue and generate lesions comparable to the current clinical ablation catheters.

Comparative Analysis and Optimal Selection of Calibration Functions in Pure Rotational Raman Lidar Technique

The pure rotational Raman (PRR) lidar technique relies on calibration functions (CFs) to extract temperature information from raw detection data. The choice of CF significantly impacts the accuracy of the retrieved temperature. In this study, we propose a method that combines multiple Monte Carlo simulation experiments with a statistical analysis, and we first conduct simulated comparisons of the calibration effects of different CFs while considering the impact of noise. We categorized ten common CFs into four groups based on their functional form and the number of calibration coefficients. Based on functional form, specifically, we defined 1/T = f(lnQ) as a forward calibration function (FCF) and lnQ = g(1/T) as a backward calibration function (BCF). Here, T denotes temperature, and Q denotes the signal intensity ratio. Their performance within and outside the calibration interval is compared across different integration times, smoothing methods, and reference temperature ranges. The results indicate that CFs of the same category exhibit similar calibration effects, while those of different categories exhibit notable differences. Within the calibration interval, the FCF performs better, especially with more coefficients. However, outside the calibration interval, the linear calibration function (which can be considered a two-coefficient FCF) has an obvious advantage. Conclusions based on the simulation results are validated with actual data, and the factors influencing calibration errors are discussed. Utilizing these findings to guide CF selection can enhance the accuracy and stability of PRR lidar detection.

RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments.

It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of these two problems. First, we propose an IMU-PARSAC algorithm which can robustly detect and match keypoints in a two-stage process. In the first state, landmarks are matched with new keypoints using visual and IMU measurements. We collect statistical information from the matching and then guide the intra-keypoint matching in the second stage. Second, to handle the problem of pure rotation, we detect the motion type and adapt the deferred-triangulation technique during the data-association process. We make the pure-rotational frames into the special subframes. When solving the visual-inertial bundle adjustment, they provide additional constraints to the pure-rotational motion. We evaluate the proposed VIO system on public datasets and online comparison. Experiments show the proposed RD-VIO has obvious advantages over other methods in dynamic environments.

Eight-Bar Elbow Joint Exoskeleton Mechanism

This paper deals with the design and kinematic analysis of a novel mechanism for the elbow joint of an upper-limb exoskeleton, with the aim of helping operators, in terms of effort and physical resistance, in carrying out heavy operations. In particular, the proposed eight-bar elbow joint exoskeleton mechanism consists of a motorized Watt I six-bar linkage and a suitable RP dyad, which connects mechanically the external parts of the human arm with the corresponding forearm by hook and loop velcro, thus helping their closing relative motion for lifting objects during repetitive and heavy operations. This relative motion is not a pure rotation, and thus the upper part of the exoskeleton is fastened to the arm, while the lower part is not rigidly connected to the forearm but through a prismatic pair that allows both rotation and sliding along the forearm axis. Instead, the human arm is sketched by means of a crossed four-bar linkage, which coupler link is considered as attached to the glyph of the prismatic pair, which is fastened to the forearm. Therefore, the kinematic analysis of the whole ten-bar mechanism, which is obtained by joining the Watt I six-bar linkage and the RP dyad to the crossed four-bar linkage, is formulated to investigate the main kinematic performance and for design purposes. The proposed algorithm has given several numerical and graphical results. Finally, a double-parallelogram linkage, as in the particular case of the Watt I six-bar linkage, was considered in combination with the RP dyad and the crossed four-bar linkage by giving a first mechanical design and a 3D-printed prototype.

A geometrical theory of gliding motility based on cell shape and surface flow

Gliding motility proceeds with little changes in cell shape and often results from actively driven surface flows of adhesins binding to the extracellular environment. It allows for fast movement over surfaces or through tissue, especially for the eukaryotic parasites from the phylum apicomplexa, which includes the causative agents of the widespread diseases malaria and toxoplasmosis. We have developed a fully three-dimensional active particle theory which connects the self-organized, actively driven surface flow over a fixed cell shape to the resulting global motility patterns. Our analytical solutions and numerical simulations show that straight motion without rotation is unstable for simple shapes and that straight cell shapes tend to lead to pure rotations. This suggests that the curved shapes of Plasmodium sporozoites and Toxoplasma tachyzoites are evolutionary adaptations to avoid rotations without translation. Gliding motility is also used by certain myxo- or flavobacteria, which predominantly move on flat external surfaces and with higher control of cell surface flow through internal tracks. We extend our theory for these cases. We again find a competition between rotation and translation and predict the effect of internal track geometry on overall forward speed. While specific mechanisms might vary across species, in general, our geometrical theory predicts and explains the rotational, circular, and helical trajectories which are commonly observed for microgliders. Our theory could also be used to design synthetic microgliders.

Using Rotations to Control Observable Relativistic Effects

This paper examines the possibility of controlling the outcome of measured (flat space-time) relativistic effects, such as time dilation or length contractions, using pure rotations and their nontrivial interactions with Lorentz boosts in the isometry group SO+(3,1). In particular, boost contributions may annihilate leaving only a geometric phase (Wigner rotation), which we see in the complex solutions of the generalized Euler decomposition problem in R3. We consider numerical examples involving specific matrix factorizations, along with possible applications in special relativity, electrodynamics and quantum scattering. For clearer interpretation and simplified calculations we use a convenient projective biquaternion parametrization which emphasizes the geometric phases and for a large class of problems allows for closed-form solutions in terms of only rational functions.

Rock strength weakening subject to principal stress rotation: Experimental and numerical investigations

During the construction and operation of gas storage reservoirs, changes in the principal stress direction can induce fracture propagation under conditions of lower differential stress, potentially leading to failure in the surrounding rock. However, the weakening of strength due to pure stress rotation has not yet been investigated. Based on fracture mechanics, an enhanced Mohr-Coulomb strength criterion considering stress rotation is proposed and verified with experimental and numerical simulations. The micro-damage state and the evolution of the rock under the pure stress-rotation condition are analyzed. The findings indicate that differential stress exceeding the crack initiation stress is a prerequisite for stress rotation to promote the development of rock damage. As the differential stress increases, stress rotation is more likely to induce rock damage, leading to a transition from brittle to plastic failure, characterized by wider fractures and a more complex fracture network. Overall, a negative exponential relationship exists between the stress rotation angle required for rock failure and the differential stress. The feasibility of applying the enhanced criterion to practical engineering is discussed using monitoring data obtained from a mine-by tunnel. This study introduces new concepts for understanding the damage evolution of the surrounding rock under complex stress paths and offers a new theoretical basis for predicting the damage of gas storage reservoirs.

Experimental study on the influence of principal stress axes rotation on sand mechanical behavior and non-coaxiality effects

The soil around the foundations of offshore engineering experienced the principal stress axes rotation caused by the wave loadings. To investigate the influence of the principal stress axes rotation on the soil stress-strain relationship, a series of pure principal stress axes rotation tests under drained/undrained conditions were carried out with a hollow cylinder apparatus. The undrained test results show that the deviatoric stress, relative density, and starting point of rotation affect the mechanical properties of sand. Through the analysis of pore water pressure accumulation in the 1st cycle, it was observed that more pore pressure accumulates in Quadrants II and III, while relatively less accumulates in Quadrants I and IV. Under drained and undrained conditions, the non-coaxial behavior of the soil differs. The non-coaxiality can be significantly observed in the drained test, and the direction of strain increment tends to the stress increment direction when the cycle number increases.

Pure rotation in the temporomandibular joint during jaw opening? A digital motion analysis

ObjectiveIn the temporomandibular joint two separate movements of rotation and translation occur in two articular spaces during mouth opening. Over the years, the approach has changed considerably, but it is still subject to controversy as to which of these movement is involved in the initial stage of mouth opening. In the present study, the extent of rotation and translation was investigated in the first 5 mm of mouth opening.Materials and methodsThe study was carried out on 46 volunteers. Anamnesis was taken and patients were examined. For the investigation, an ultrasonic digital motion analyser (KaVo Arcus Digma 2) was applied. The measurements were made after calibration to an arbitrary axis. Each participant performed three open-close movements in succession, starting from maximum intercuspal position.ResultsData were statistically processed using cubic spline interpolation. Linear regression was then used. The resulting line is significantly (p < 0.0001) different from the horizontal that represents only rotational movement.ConclusionThe results show that during mouth opening from maximum intercuspal position, translation is present continuously in addition to rotation. Therefore, it might be time to re-evaluate the principle of a pure rotational approach.

Continuum-molecular modeling of planar micropolar media: Anisotropy, chiral properties and length-scale effects

This paper presents a continuum-molecular formulation for bi-dimensional micropolar media within the mathematical formalism of a revised peridynamic theory with oriented material points. A variational procedure is considered to derive the fundamental governing equations of the model, which postulates that material points interact through pair potentials allowing generalized pairwise actions to be derived as energy conjugates to properly defined pairwise deformation measures. While continuity of mass is assumed, constitutive laws are produced for long-range micro-interactions to reproduce the effective behavior of the material at the macro-scale. The definition of proper micromoduli functions respecting material symmetries and invariance properties allows then to obtain a non-local micropolar continuum based on pseudo-discrete kinematics, while providing a mechanism-based description of material anisotropy and coupling behaviors uncovered by classical elasticity. An analytic micro-macro moduli correspondence procedure is also established, based on the formal analogy with the constitutive tensor of centrosymmetric planar micropolar continua. As an important result of this research, we show that distinctive chiral effects of micropolar elasticity can be reproduced by introducing a directional independent pseudo-scalar pair potential, which turns out to be analytically vanishing when the rotationally invariant part of the corresponding continuum elastic tensor is invariant to mirror reflections as well. Moreover, the proposed formulation demonstrates sensitivity to elastic bending size-effect as specific property of structured materials homogenized as micropolar continua, and related to the characteristic length of their underlying microstructure. The resulting constitutive non-locality, which plays an important role in fracture problems, is conceptually separated with respect to the intrinsic non-local character of the model related to the integral nature of its governing equations, and then does not vanish when the horizon reduces to zero. The theoretical findings and the effectiveness of the model are successfully verified through illustrative examples referred to representative cases of structured materials homogenized as micropolar continua, including length-scale dependent quasi-static crack propagation as well as the mechanism-based description of the coupling between bulk strain and micro-rotation in elastic bi-dimensional homogenized chiral lattices.

Remote photoplethysmography based on reflected light angle estimation

Objective. In previous studies, the factors affecting the accuracy of imaging photoplethysmography (iPPG) heart rate (HR) measurement have been focused on the light intensity, facial reflection angle, and motion artifacts. However, the factor of specularly reflected light has not been studied in detail. We explored the effect of specularly reflected light on the accuracy of HR estimation and proposed an estimation method for the direction of specularly radiated light. Approach. To study the HR measurement accuracy influenced by specularly reflected light, we control the component of specularly reflected light by controlling its angle. A total of 100 videos from four different reflected light angles were collected, and 25 subjects participated in the dataset collection. We extracted angles and illuminations for 71 facial regions, fitting sample points through interpolation, and selecting the angle corresponding to the maximum weight in the fitted curve as the estimated reflected angle. Main results. The experimental results show that higher specularly reflected light compromises HR estimation accuracy under the same value of light intensity. Notably, at a 60° angle, the HR accuracy (ACC) increased by 0.7%, while the signal-to-noise ratio and Pearson correlation coefficient increased by 0.8 dB and 0.035, respectively, compared to 0°. The overall root mean squared error, standard deviation, and mean error of our proposed reflected light angle estimation method on the illumination multi-angle incidence (IMAI) dataset are 1.173°, 0.978°, and 0.773°. The average Pearson value is 0.8 in the PURE rotation dataset. In addition, the average ACC of HR measurements in the PURE dataset is improved by 1.73% in our method compared to the state-of-the-art traditional methods. Significance. Our method has great potential for clinical applications, especially in bright light environments such as during surgery, to improve accuracy and monitor blood volume changes in blood vessels.

Constrained Origami Artificial Muscle-Driven Robotic Manipulator Capable of Coordinating Twisting and Grasping Motions for Object Manipulation.

Grasping and twisting motions are vital when manipulating objects due to their fundamental role in enabling precision, adaptability, and effective interaction. However, few studies in soft robotics exploiting artificial muscles have achieved object manipulation in situ through the coordination of twisting and grasping motions akin to our forearm and hand's capabilities. Especially, when using the same artificial muscle module to achieve these two motions will greatly simplify the manufacturing and control complexity. Here, we introduce identical origami artificial muscle modules (OAMMs) subjected to distinct end constraints into the design of the robotic manipulator, allowing it to achieve independent grasping and twisting motions to achieve effective, precise object manipulation. Applying different end constraints to the identical OAMMs yields distinct motions at their ends, where utilizing a fixed end and a sliding end realizes pure translation, while opting for a fixed end and a rotating end enables pure rotation. The differentially constrained OAMMs then serve as soft actuators for the manipulator's torsional mechanism and grasping mechanism to accomplish independent, controllable twisting and grasping motions. The coordination of twisting and grasping motions finally enables the manipulator to complete various tasks, including installing a light bubble, pouring the water from a lidded bottle into a cup, and sorting and stacking puzzle blocks. Our study pioneers the utilization of OAMMs for precise and versatile object manipulation through the coordination of independent twisting and grasping motions.

Evolution of weak, homogeneous turbulence with rotation and stratification

This article concerns the time-evolution, spectral structure and scaling of weak turbulence subject to rotation and stable stratification. The flow is expressed as a combination of particular solutions, referred to as modes, of the linearised governing equations without viscosity or diffusion. Modes are of two types: oscillatory ones which represent inertial-gravity waves and time-independent ones that express a non-propagating (NP) component of the flow. The presence of the NP component, which plays an active role in the dynamics apart from in the case of pure rotation, renders wave-turbulence analysis problematic because the NP mode is non-dispersive. Equations are derived for the time evolution of the modal amplitudes, evolution which is due to nonlinearity and visco-diffusion. Subsequent analysis assumes that one or other (or both) of the Rossby and Froude numbers is small (weak turbulence). Given this assumption, the NP component is found to evolve independently of the wave one and a numerical scheme, similar to, though significantly different from classical direct numerical simulation, is used to determine its time evolution. The treatment of the wave component assumes its amplitude is large compared with the NP one, otherwise there are seemingly intractable difficulties of closure in the analysis. Given this further assumption, the wave component decouples from the NP one. Evolution equations for the wave spectra are derived using wave-turbulence analysis and are integrated numerically. As might be expected, these equations indicate that nonlinear coupling of wave modes is dominated by resonances. Results are given for both the NP and wave components.