Three-dimensional Deformation Research Articles

Kilometer-resolution three-dimensional crustal deformation of Tibetan Plateau from InSAR and GNSS

Kilometer-resolution three-dimensional crustal deformation of Tibetan Plateau from InSAR and GNSS

Vapor and Light Responsive Biocompatible Soft Actuator.

Bioinspired smart polymeric materials that undergo three-dimensional shape deformation in response to specific stimuli have gained significant attention in the field of soft robotics and intelligent devices. Despite the substantial advancements in soft robotics, there is a growing demand for the design of multistimuli-responsive soft actuators using a single layer of material due to its reduced complexity and ease of manufacturing and durability. Here, we report the actuation characteristics of a single-layer, dual-responsive soft actuator that overcomes the commonly encountered delamination issues often associated with bilayer systems by incorporating PEDOT:PSS with cassava starch. This soft actuator exhibits deformations in response to various solvent vapors, such as water, alcohol, and acetone. Remarkably, it demonstrates opposite deformations upon exposure to water and alcohol vapors. Additionally, the actuator responds to light triggers and folds upon exposure to sunlight and infrared light. The degree of folding can be precisely controlled by adjusting the intensity of the light source. Furthermore, the periodic geometric patterns imposed on the surface of the actuator provide an additional handle to control the bending axis. For proof of concept, we leverage the actuation capabilities of our actuator to showcase a range of potential applications, including its usage in wearable textiles, crawler robots, smart curtains, push-and-pull machines, and smart lifts.

Perceptually Inspired C0-Continuity Haptic Shape Display with Trichamber Soft Actuators.

Shape display devices composed of actuation pixels enable dynamic rendering of surface morphological features, which have important roles in virtual reality and metaverse applications. The traditional pin-array solution produces sidestep-like structures between neighboring pins and normally relies on high-density pins to obtain curved surfaces. It remains a challenge to achieve continuous curved surfaces using a small number of actuated units. To address the challenge, we resort to the concept of surface continuity in computational geometry and develop a C0-continuity shape display device with trichamber fiber-reinforced soft actuators. Each trichamber unit produces three-dimensional (3D) deformation consisting of elongation, pitch, and yaw rotation, thus ensuring rendered surface continuity using low-resolution actuation units. Inspired by human tactile discrimination threshold on height and angle gradients between adjacent units, we proposed the mathematical criteria of C0-continuity shape display and compared the maximal number of distinguishable shapes using the proposed device in comparison with typical pin-array. We then established a shape control model considering the nonlinearity of soft materials to characterize and control the soft device to display C0-continuity shapes. Experimental results showed that the proposed device with nine trichamber units could render typical sets of distinguishable C0-continuity shape sequence changes. We envision that the concept of C0-continuity shape display with 3D deformation capability could improve the fidelity of the rendered shapes in many metaverse scenarios such as touching human organs in medical palpation simulations.

3D deformation measurement of rotating blades based on concentric ring calibration and GPU-SIFT feature point searching

Image grayscale matching and camera calibration are two key technologies for measuring the three-dimensional deformation of rotating blades. To address the issues of low accuracy in extracting corresponding points caused by unclear grayscale boundaries of traditional chessboard calibration patterns and the high computational complexity of image matching algorithms in high-speed and high-resolution scenarios, this paper proposes a method for measuring the three-dimensional deformation of rotating blades based on concentric circle calibration and GPU-SIFT feature point search. Firstly, a concentric circle calibration method based on arc segment combination for extracting circle center is proposed. By fitting the circular calibration pattern with extracted marker points, errors introduced by unclear grayscale boundaries of chessboard patterns are avoided, thereby improving the accuracy of calibration parameters. Secondly, an image matching algorithm based on GPU-SIFT feature point search is presented. By optimizing the storage location of scale space process data, the performance of the SIFT algorithm is maximized, leading to improved image matching speed. Lastly, the calculation of displacement and strain fields is achieved using the P3P theory and local least squares fitting method, respectively. The experimental results show that the proposed system and method for 3D deformation measurement achieve a strain measurement accuracy of 80 με. Moreover, they successfully measure the surface deformation of turbofan blades under the conditions of 3000 rpm and 6000 rpm. Through this method, it can improve the deformation measurement capability of large engine manufacturers for high-speed rotating blades and provide reliable technical support.

Characterizing damage evolution in fiber reinforced composites using in-situ X-ray computed tomography, deep machine learning and digital volume correlation (DVC)

In-situ X-ray computed tomography (CT) techniques enable to examine microstructural evolution of composite materials continuously and nondestructively under loading for better understanding the initiation and propagation of microscopic damages. This study explores the tensile damage behavior of notched woven carbon/epoxy composites under successive loading process. Since the image contrast of different composite material phases is normally low and conventional image segmentation techniques are hard to identify microstructures and defects in different directions distinctively, a U-Net image segmentation model based on deep machine learning algorithms is employed to characterize microstructures and material damages precisely and consistently. Digital volume correlation (DVC) approach is proposed here to measure the three-dimensional (3D) deformation fields of carbon/epoxy composites at different loading steps, and the DVC results are used to predict location of damage initiation and propagation. It is found that the damage modes of notched carbon/epoxy composites mainly include fiber breakage, longitudinal cracks in warp fiber tows, and transverse cracks in weft fiber tows. The individual fiber breakage occurs in warp fiber tows at the intermediate loading level, and longitudinal and transverse cracks appear in further loading levels. Longitudinal cracks and fiber breakage events take place in a region tangent to the notch tip and exhibit a strong interaction. The development of longitudinal cracks promotes the initiation and propagation of transverse cracks. In addition, the strain concentration regions in 3D deformation fields match well with the microscopic cracks segmented by the U-Net deep learning model. This study demonstrated that the integration of X-ray computed tomography, digital volume correlation and image semantic segmentation enables to identify damage initiation, evolution, extent and mechanism.

Numerical simulation of wedge failure of rock slopes using three-dimensional discontinuous deformation analysis

Numerical simulation of wedge failure of rock slopes using three-dimensional discontinuous deformation analysis

The pull-out capacity of torpedo anchor in clay considering the full opening cavity

Torpedo anchors are increasingly being considered for mooring floating facilities in deep waters owing to their efficient and economical installation. The anchor was released from a specified height above the seabed to allow it to gain velocity as it fell freely into the water before penetrating the seabed. A cavity was formed above the anchor shaft after the anchor installation. The formation of this post-installation cavity is largely dependent on the soil strength conditions and affects the anchor capacity after installation. However, there is a lack of understanding regarding the formation mechanisms of the cavity and its effect on the bearing capacity of a torpedo anchor. Thus, this study focuses on the effects of the post-installation cavity on the bearing capacity of the torpedo anchor. The impact of a fully open post-penetration cavity on both the vertical and inclined bearing capacity of a torpedo anchor without fins was investigated using the Coupled Eulerian–Lagrangian (CEL) method in ABAQUS with three-dimensional large deformation finite element (LDFE) analysis. A method for evaluating the vertical bearing capacity of a torpedo anchor, considering the effect of a post-installation cavity, was proposed. This study provides insight into the installation effect on the bearing capacity of torpedo anchors.

Meta-contact analysis based on contact theory in three-dimensional discontinuous deformation analysis

Accurate contact analysis between nonspherical blocks, such as polyhedral blocks, is crucial for modeling jointed rock masses. The Contact Theory provides a rigorous foundation for contact detection. However, designing a robust and efficient algorithm that conforms to the original Contact Theory remains challenging. This study introduces the meta-contact concept for polyhedral blocks, which corresponds to the contact cover on the entrance block of the Contact Theory. Using the meta-contact concept, contact type identification, determination of contact points and plans, and contact force calculation can be formulated while retaining the advantages of Contact Theory in dealing with irregular blocks with small edges and large penetration.

Numerical investigation of spudcan penetration in sand with interbedded clay

Jack-up units are extensively utilized in offshore geotechnical investigations and the recent installation of wind turbine foundations. Engineers require accurate predictions of spudcan penetration resistance to assess its final penetration depth and identify potential risks, e.g., punch-through, ensuring safety during the installation of jack-up units. Notably, for seabed stratigraphy comprising sand with interbedded clay layers, a significant discrepancy exists between the penetration resistance calculated using current industry guidelines and actual measured results. In this study, three-dimensional (3D) large deformation finite-element (LDFE) analyses were performed to model the spudcan penetration response in a seabed consisting of a sand–clay–sand soil profile. A comprehensive parametric study was conducted to examine the influence of soil strength and layer thickness on penetration resistance. The variations of the soil failure mechanisms are demonstrated and associated with the varying penetration resistance, which form the basis of the new calculation method developed for the sand seabed with interbedded clay.

Stereo-DICNet: An efficient and unified speckle matching network for stereo digital image correlation measurement

Digital image correlation (DIC) is an image-based, non-contact optical measurement technique for measuring the deformation of objects. Recently, deep learning has been preliminarily used in monocular-DIC measurement and has brought significant advantages in efficiency and robustness. However, the deep learning-based stereo-DIC methods is still underexplored, although stereo-DIC can measure three-dimensional deformation and shape compared to monocular-DIC. Different from monocular-DIC, stereo-DIC not only requires temporal matching (inter-frame) but also stereo matching (inter-camera), and the difference in image deformation scale between the two matching tasks make it difficult to perform them using a unified network. To solve this problem, we propose a unified speckle matching network that can be used for deformation measurement at different scales, referred to as Stereo-DICNet. Stereo-DICNet consists of three modules: feature extraction, cost volume generation, and displacement map prediction. Firstly, the feature extraction module composed of the residual layer and the spatial pyramid pooling layer is designed to extract the features of different receptive fields. Then, an attention connect volume was proposed to represent the similarity information between pixels at different spatial scales. Finally, the displacement map is predicted by a stacked hourglass-shaped sub-net. Simulation and physical experiments verify that Stereo-DICNet can perform both temporal matching and stereo matching. Moreover, material tensile experiments show that the MAE of Stereo-DICNet in the U, V, and W directions are no more than 0.005 mm, 0.015 mm, 0.01 mm respectively.

A case study of the response of support structure and stratum deformation caused by deep foundation pit excavation in soft area

Investigating the spatial distribution and evolution patterns of deformations during foundation pit excavation is crucial for safeguarding the surrounding environment. This study focuses on a deep excavation case in Nanjing and discusses the strata deformation and the response of the retaining structure through the excavation phase, informed by on-site monitoring data. A three-dimensional finite element model of the excavation was developed, with comparisons between predicted values and on-site deformation monitoring data underscoring the accuracy of the numerical simulation results. This analysis delved into the deformation spatial distribution within the retaining structure and ground surface settlement throughout the excavation. Moreover, the three-dimensional deformation patterns of the diaphragm wall at various excavation depths were scrutinized, mapping the evolution pattern and spatial distribution of ground surface settlement around the foundation pit across different excavation stages. The findings reveal a pronounced spatial effect in both the diaphragm wall deformation and ground movements behind the wall, with the greatest deformation manifesting near the symmetric plane of the excavation center and markedly less deformation near the excavation corners. Furthermore, the deformation scope broadens with increasing excavation depth. These research outcomes aim to furnish a substantive reference for practical engineering implementations.

Physics-Informed Approximation of Internal Thermal History for Surface Deformation Predictions in Wire Arc Directed Energy Deposition

Abstract This work presents a physics-informed fusion methodology for deformation detection using multi-sensor thermal data. A challenge with additive manufacturing (AM) is that abnormalities commonly occur due to rapid changes in the thermal gradient. Different non-destructive in-situ thermal sensors capture parts of the thermal history but are limited by the visible temperature spectrum and sensor field of view of the fabrication process. Various sensors mitigate problems with the loss of thermal history information; however, it brings forth challenges with integrating different data streams and the need to interpolate the internal thermal history. This study develops a thermal data-informed heat flux methodology that fills the gap in fusing numerical temperature approximation with data-driven knowledge of the surface of additive manufactured (AM) components. First, this study fuses infrared (IR) thermal data complexities during the AM process with the Goldak double ellipsoidal heat flux to model the energy input into the component. Second, a thermal physics-informed model input (PIMI) is created with thermal data-informed heat flux to capture internal thermal history. Lastly, regression convolutional neural network (CNN) captures the relationship between the three-dimensional thermal gradient and surface deformation. The rapid thermal gradient formation and identification of deformation is a key step toward using thermal history data and machine learning to improve quality control in AM. The proposed surface deformation detection model achieved an MSE of 1.14 mm and an R2 of 0.89.

Research on Deformation Monitoring of Roadway Surrounding Rock Based on Mobile 3D Laser Scanning Technology

Aiming at the problems of low data acquisition efficiency, unintuitive data form, low relative accuracy, and inability to continuously monitor the whole cross-section in traditional roadway rock deformation monitoring methods, a roadway rock deformation monitoring method based on mobile 3D laser scanning technology is proposed. Firstly, the mobile 3D laser scanning technology is used to obtain the real 3D point cloud data of the roadway surrounding rock; secondly, the multi-scale dimensional features are used to classify the 3D point cloud data, filter the invalid point cloud data, and form the accurate point cloud data of the roadway surrounding rock surface; then the 3D laser scanning is carried out on a regular basis for the deformation-prone areas of the roadway, and the Iterative Closest Point Algorithm (ICP algorithm) is used to align the overlapping part of the point cloud to achieve the point cloud splicing and point cloud stitching of the two scans. The point cloud splicing and point cloud overlapping of the two scans are achieved; finally, the multi-scale model-to-model point cloud comparison algorithm (M3C2 algorithm) is used to compare the point cloud data of the two periods of the roadway, and the appropriate parameters are selected to indicate the displacement change of the surface of the roadway rock with the size of the color value, so as to realize the monitoring of the deformation of the roadway rock in the three-dimensional full cross-section of the roadway. The method is applied to the deformation monitoring of the surrounding rock in the return roadway of 21407 working face in a coal mine, and the results show that: the mobile laser scanning technology can be used to obtain the complete point cloud data of the roadway, and the deformation area of the surrounding rock is successfully identified after the classification of the scanned point clouds in different time periods, the alignment of the point clouds, and the comparison of the point clouds, and the deformation condition of the surrounding rock of the roadway is visually reflected in the three-dimensional full-section deformation condition of the surrounding rock of the roadway. This method is suitable for monitoring the overall de-formation of the surrounding rock of the roadway under complex environmental conditions, and the de-formation of the surrounding rock is identified by different color areas.

Spatio-temporal relationship between three-dimensional deformations of a collapsible tube and the downstream flowfield

The interactions between fluid flow and structural components of collapsible tubes are representative of those in several physiological systems. Although extensively studied, there exists a lack of characterization of the three-dimensionality in the structural deformations of the tube and its influence on the flow field. This experimental study investigates the spatio-temporal relationship between 3D tube geometry and the downstream flow field under conditions of fully open, closed, and slamming-type oscillating regimes. A methodology is implemented to simultaneously measure three-dimensional surface deformations in a collapsible tube and the corresponding downstream flow field. Stereophotogrammetry was used to measure tube deformations, and simultaneous flow field measurements included pressure and planar Particle Image Velocimetry (PIV) data downstream of the collapsible tube. The results indicate that the location of the largest collapse in the tube occurs close to the downstream end. In the oscillating regime, sections of the tube downstream of the largest mean collapse experience the largest oscillations in the entire tube that are completely coherent and in phase. At a certain streamwise distance upstream of the largest collapse, a switch in the direction of oscillations occurs with respect to those downstream. Physically, when the tube experiences constriction downstream of the location of the largest mean collapse, this causes the accumulation of fluid and build-up of pressure in the upstream regions and an expansion of these sections. Fluctuations in the downstream flow field are significantly influenced by tube fluctuations along the minor axes. The fluctuations in the downstream flowfield are influenced by the propagation of disturbances due to oscillations in tube geometry, through the advection of fluid through the tube. Further, the manifestation of the LU-type pressure fluctuations is found to be due to the variation in the propagation speed of the disturbances during the different stages within a period of oscillation of the tube.

Effect of padeye offset ratio on keying behaviours and capacity of square plate anchors in clay

This paper reports the effect of padeye offset ratio on the keying behaviours and capacity of square plate anchors in clay. The investigation is conducted through three-dimensional large deformation finite element analyses using the Remeshing and Interpolation Technique with Small Strain in ABAQUS. Strain rate dependency of the undrained shear strength and soil remoulding are accounted for adopting an extended Tresca model. The results from LDFE analyses are compared with existing analytical solutions, centrifuge test data, and numerical results; with reasonable agreement obtained. Parametric analyses are then carried out varying several critical factors including initial embedment depth, load eccentricity, padeye offset ratio, soil sensitivity, and soil strength heterogeneity. It is seen that the padeye offset has significant influence on the ultimate loss of embedment and capacity under vertical loading. To assess the keying behaviour of square plate anchors in clay, an equivalent soil strength incorporating strain rate dependency and remoulding is adopted. A combined factor defined as a function of the initial embedment depth and equivalent soil strength is used to estimate the ultimate loss of embedment. An equivalent ultimate bearing capacity factor is shown to be a function of the initial embedment depth, padeye offset ratio, and load eccentricity.

The Mechanics of Elastomeric Sheet Reinforced With Bidirectional Fiber Mesh Subjected to Flexure on Boundaries

Abstract We investigate the concurrent three-dimensional deformations of fiber-reinforced composite sheets subjected to out-of-plane bending moments via a continuum model, where we invoke the neo-Hookean strain energy model for the matrix material of fiber-reinforced composite, and assimilate the strain energy of fiber reinforcements into the matrix material model by accounting for stretching, bending, and twisting kinematics of the fibers through the computations of the first-order and second-order gradient of deformation. Emphasis is placed on deriving the Euler equation and boundary conditions of bending moment within the framework of the variational principle and configuring composite surfaces using differential geometry. Significant attention has been given to illustrating the concurrent three-dimensional deformation of fiber composite, meshwork deformation, and fiber kinematics. The simulation results reveal that for a square fiber composite subjected to the out-of-plane bending moment, the maximum in-plane deformation of matrix material occurs along the diagonal direction of the domain while the center of the domain experiences weak in-plane deformation. Notably, the matrix material performs isotropic/anisotropic properties depending on the domain size/shape. In addition, the simulated unit fiber deformations reasonably validate the overall deformation of the network, underscoring that the deformations of the embedded fiber units govern the overall mechanical performance of the fiber meshwork. More importantly, the continuum model qualitatively provides reasonable predictions on the damage patterns of construction materials by demonstrating the kinematics of matrix material and meshwork deformation.

Modeling of flexible shaft for robotics applications

Reducing moving mass and effective inertia is essential for achieving safe human–robot collaboration. This can be achieved either by employing remote actuation, which moves the mass of actuators away from the moving elements of the robot, or by elastic actuation, which decouples the inertia of the actuator from the inertia of the robot’s link. Flexible shafts, being torsionally compliant slender long shafts, offer a combination of remote and series elastic actuation over an obstacle. Modeling such transmission is complicated due to its three-dimensional deformation in torsion, bending, and helical buckling. This paper proposes an algorithm for estimating the polar moment of inertia and stiffness of the flexible shafts using their physical dimensions of length and diameter. Using an inertia-spring–damper model, the stiffness parameters are estimated experimentally for nine flexible shafts with variable diameters and lengths in straight and bent configurations. The proposed algorithm is validated with experimental stiffness values for variable diameters and lengths in straight configuration. For bent configuration, an empirical formulation is provided to incorporate the bending deformation effect till a bending angle of 45∘.

Three-dimensional deformation measurement techniques in space multi-physical fields based on digital image correlation

Aiming at the three-dimensional deformation measurement requirement of the high-stability structure of spacecraft in space multi-physical fields, a comprehensive instrument protection device in a vacuum high-low temperature environment is developed using ultra-low temperature anti-condensation and vacuum heat insulation technology. This ensures that the digital image correlation (DIC) measurement camera always remains in a constant temperature and pressure environment and can stably exert its original efficiency in space multi-physical field environments. Subsequently, a path-dependent DIC method based on a graphics processing unit computing parallel acceleration is proposed by combining a pre-interpolation strategy and integrated image technology, which realizes high-precision matching of digital images before and after deformation in a spatial multi-physical field environment and improves the computing efficiency. To address the problem that a common reference point may deform significantly in a space environment with a large temperature change, which leads to inaccurate system accuracy, combined with a random sampling consistency algorithm and singular value decomposition method, the optimal registration of the coordinate system and the solution of deformation were realized by setting the threshold of the reference point margin screening. Finally, a three-dimensional deformation measurement system in high- and low-temperature vacuum environments was built, and the three-dimensional deformation measurement of the satellite antenna in high- and low-temperature vacuum environments was verified, which proves the effectiveness and accuracy of the above method.

Shaking table tests on deformation pattern and failure mechanism of fault-crossing tunnels in non-rupture scenario

Tunnels, as critical underground infrastructures, often intersect with faults. Field investigations have underscored the susceptibility of fault-crossing tunnels to extensive damages during earthquakes. Hence, large-scale shaking table tests are conducted to investigate the deformation pattern and failure mechanism of fault-crossing tunnels under transverse excitation, particularly in non-rupture scenarios. The dynamic behavior of the tunnel, as expected, is dominated by the surrounding strata. Acceleration responses vary notably across different regions of the fault site. The disparity increases with the increments of seismic intensity and input frequency. The tunnel section at the interface between the fault and the hanging wall manifest the strongest acceleration, where the largest strains of the tunnel and most of the lining cracks also occur, highlighting its vulnerability to seismic vibrations. The damage-induced non-linearity of the tunnel is then identified by the decreasing dominant frequency thereof. The fault-crossing tunnel exhibits unique three-dimensional shearing-torsional deformations, elucidated through the test data and an analytical model. This deformation pattern provides a better understanding of the seismic responses of fault-crossing tunnels under seismic vibrations.

Modeling the failure process of rock masses using a 3D nodal-based continuous-discontinuous deformation analysis method

A three-dimensional nodal-based continuous-discontinuous deformation analysis method (3D-NCDDAM) is developed in this study for modeling the failure process of rock masses. In the 3D-NCDDAM, four-node tetrahedral elements which can be automatally generated are used to discretize the problem domain. To reduce computational cost, and effectively model the failure process of rock masses at concerned regions, the problem domain is devided into two types of regions, namely, the “non-destructive region” and “possible destructive region”. The non-destructive region is mainly used to reduce the boundary effects on the numerical results, and is regarded transitional zone in which the failure of rock masses is not considered. For the possible destructive region, artificial joint elements are inserted, and the failure of these joint elements is used to represent fracture initiation and propagation in rock masses. Additionally, the contact potential which is initially proposed in finite-discrete element method (FDEM) is incorporated into the 3D-NCDDAM to simuate the opening and slipping of discontinuous structural planes involved in rock masses’ failure process. Note that the difficultly in determing contact types in the traditional 3D discontinuous deformation analysis (3D-DDA) method is avoided in the 3D-NCDDAM. The proposed 3D-NCDDAM can be treated as a hybrid method, which inherite both the advantage of DDA method and FDEM. To validate the 3D-NCDDAM, seven numerical examples are conducted. The numerical results indicte that the 3D-NCDDAM can effectively model the failure process of rock masses in both experimental scale and engineering scale.