Buckling versus unilateral constraint for a multistable metamaterial element.

A structural element is designed and investigated, forming the basis for the development of an elastic multistable metamaterial. The leitmotif of the structural design is the implementation of a strut characterized by a bifurcation occurring at either vanishing tensile or compressive load. It is shown that buckling at null load leads to a mechanical equivalence with a unilateral constraint formulation, introducing shocks in dynamics. Towards a future analysis of the latter, the nonlinear quasi-static response is investigated, showing the multistable character of the structure, which may appear as bistable or tetrastable. This article is part of the theme issue 'Wave generation and transmission in multi-scale complex media and structured metamaterials (part 1)'.

Comparison of the performance of a high voltage generator insulated by gas or liquid dielectric.

A module of a wireless high voltage generator was tested immersed in both gaseous and liquid environments providing electrical insulation. The overall performance of the module as well as a detailed performance of the key components are reported, and a comparison between the results in gas and liquid is given. The tests performed on the liquid dielectric show that it is a valid alternative to high pressure gas electrical insulation.

Nested Bloch waves in elastic structures with configurational forces.

Small axial and flexural oscillations are analysed for a periodic and infinite structure, constrained by sliding sleeves and composed of elastic beams. A nested Bloch-Floquet technique is introduced to treat the nonlinear coupling between longitudinal and transverse displacements induced by the configurational forces generated at the sliding sleeve ends. The action of configurational forces is shown to play an important role from two perspectives. First, the band gap structure for purely longitudinal vibration is broken so that axial propagation may occur at frequencies that are forbidden in the absence of a transverse oscillation and, second, a flexural oscillation may induce axial resonance, a situation in which the longitudinal vibrations tend to become unbounded. The presented results disclose the possibility of exploiting configurational forces in the design of mechanical devices towards longitudinal actuation from flexural vibrations of small amplitude at given frequency. This article is part of the theme issue 'Modelling of dynamic phenomena and localization in structured media (part 1)'.

Serpentine locomotion through elastic energy release.

A model for serpentine locomotion is derived from a novel perspective based on concepts from configurational mechanics. The motion is realized through the release of the elastic energy of a deformable rod, sliding inside a frictionless channel, which represents a snake moving against lateral restraints. A new formulation is presented, correcting previous results and including situations never analysed so far, as in the cases when the serpent's body lies only partially inside the restraining channel or when the body has a muscle relaxation localized in a small zone. Micromechanical considerations show that propulsion is the result of reactions tangential to the frictionless constraint and acting on the snake's body, a counter-intuitive feature in mechanics. It is also experimentally demonstrated that the propulsive force driving serpentine motion can be directly measured on a designed apparatus in which flexible bars sweep a frictionless channel. Experiments fully confirm the theoretical modelling, so that the presented results open the way to exploration of effects, such as variability in the bending stiffness or channel geometry or friction, on the propulsive force of snake models made up of elastic rods.

From the elastica compass to the elastica catapult: an essay on the mechanics of soft robot arm.

An elastic rod is clamped at one end and has a dead load attached to the other (free) end. The rod is then slowly rotated using the clamp. When the load is smaller than the buckling value, the rod describes a continuous set of quasi-static forms and its end traces a (smooth, convex and simple) closed curve, which would be a circle if the rod were rigid. The closed curve is analytically determined through the integration of the Euler's elastica, so that for sufficiently small loads the mechanical system behaves as an 'elastica compass'. For loads higher than that of buckling, the elastica reaches a configuration from which a snap-back instability occurs, realizing a sort of 'elastica catapult'. The whole quasi-static evolution leading to the critical configuration for snapping is calculated through the elastica and the subsequent dynamic motion simulated using two numerical procedures, one ad hoc developed and another based on a finite-element scheme. The theoretical results are then validated on a specially designed and built apparatus. An obvious application of the present model would be in the development of soft robotic limbs, but the results are also of interest for the optimization analysis in pole vaulting.

Publisher's Note: Asymptotic self-restabilization of a continuous elastic structure [Phys. Rev. E 94, 063005 (2016)].

This corrects the article DOI: 10.1103/PhysRevE.94.063005.

Microdosimetric Measurements in Gamma and neutron Fields with a Tissue Equivalent Proportional Counter Based on a Gas Electron Multiplier.

A multi-element tissue-equivalent proportional counter (TEPC), based on a single gas electron multiplier (GEM) foil of standard geometry, has been constructed with 16 cylindrical sensitives volumes. In this article, the design of this novel counter is described and first microdosimetric measurements are presented. To study the response of the GEM-TEPC to both low and high linear energy transfer radiation fields, the microdosimetric spectra due to a 137Cs gamma-ray source and to fast neutrons from 7Li(d,n)8Be reaction have been measured using pure propane gas at low pressure, in order to simulate a tissue site of about 1 µm equivalent size. The comparison with spectra measured with a spherical TEPC and with a mini-TEPC demonstrates promising properties for application of the GEM-TEPC for microdosimetric applications.

Asymptotic self-restabilization of a continuous elastic structure.

A challenge in soft robotics and soft actuation is the determination of an elastic system that spontaneously recovers its trivial path during postcritical deformation after a bifurcation. The interest in this behavior is that a displacement component spontaneously cycles around a null value, thus producing a cyclic soft mechanism. An example of such a system is theoretically proven through the solution of the elastica and a stability analysis based on dynamic perturbations. It is shown that the asymptotic self-restabilization is driven by the development of a configurational force, of similar nature to the Peach-Koehler interaction between dislocations in crystals, which is derived from the principle of least action. A proof-of-concept prototype of the discovered elastic system is designed, realized, and tested, showing that this innovative behavior can be obtained in a real mechanical apparatus.

Self-encapsulation, or the 'dripping' of an elastic rod.

A rod covering a fixed span is loaded at the middle with a transverse force, such that with increasing load a progressive deflection occurs. After a certain initial deflection, a phenomenon is observed where two points of the rod come in contact with each other. This is defined as the 'dripping point' and is when 'self-encapsulation' of the elastic rod occurs. Dripping seems at a first glance to be impossible and definitely cannot occur in the presence of 'ordinary' constraints (such as simple supports or clamps) at the ends of the span. However, the elastica governs oscillating pendulums, buckling rods and pendant drops, so that a possibility for self-encapsulation might be imagined. This phenomenon is indeed demonstrated (both theoretically and experimentally) to occur when at least one of the constraints at the ends of the rod is a sliding sleeve. This mechanical device generates a configurational force, causing the dripping of the rod, in a fully elastic set-up.

Torsional locomotion.

One edge of an elastic rod is inserted into a friction-less and fitting socket head, whereas the other edge is subjected to a torque, generating a uniform twisting moment. It is theoretically shown and experimentally proved that, although perfectly smooth, the constraint realizes an expulsive axial force on the elastic rod, which amount is independent of the shape of the socket head. The axial force explains why screwdrivers at high torque have the tendency to disengage from screw heads and demonstrates torsional locomotion along a perfectly smooth channel. This new type of locomotion finds direct evidence in the realization of a 'torsional gun', capable of transforming torque into propulsive force.

An elastica arm scale.

The concept of a 'deformable arm scale' (completely different from a traditional rigid arm balance) is theoretically introduced and experimentally validated. The idea is not intuitive, but is the result of nonlinear equilibrium kinematics of rods inducing configurational forces, so that deflection of the arms becomes necessary for equilibrium, which would be impossible for a rigid system. In particular, the rigid arms of usual scales are replaced by a flexible elastic lamina, free to slide in a frictionless and inclined sliding sleeve, which can reach a unique equilibrium configuration when two vertical dead loads are applied. Prototypes designed to demonstrate the feasibility of the system show a high accuracy in the measurement of load within a certain range of use. Finally, we show that the presented results are strongly related to snaking of confined beams, with implications for locomotion of serpents, plumbing and smart oil drilling.