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In this paper a new algorithm for fast serial and parallel dynamics simulation of space robots as characterized by serial chain systems with a floating base is presented.
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In quantum dynamics, symmetries are vital for identifying and assessing conserved quantities that govern the evolution of a quantum system. When promoted to the open quantum system setting, dynamical symmetries can be negatively altered by system-environment interactions, thus, complicating their analysis. Previous work on noisy symmetric quantum dynamics has focused on the Markovian setting, despite the ubiquity of non-Markovian noise in a number of widely used quantum technologies. Here, in this Letter, we develop a framework for quantifying the impact of non-Markovian noise on symmetric quantum evolution via root space decompositions and the filter function formalism. We demonstrate analytically that symmetry-preserving noise maintains the symmetric subspace, while nonsymmetric noise leads to highly specific leakage errors that are block diagonal in the symmetry representation. We support our findings with numerical studies of a transverse-field Ising model and a quantum error detecting code subject to spatiotemporally correlated multiaxis noise. Our results are broadly applicable, providing new analytic insights into the control and characterization of open quantum system dynamics.
The subcritical growth of cracks from pre-existing flaws in ceramics can severely affect the structural reliability of a material. The ability to directly observe subcritical crack growth and rigorously analyze its influence on fracture behavior is important for an accurate assessment of material performance. A Mode I fracture specimen and loading method has been developed which permits the observation of stable, subcritical crack extension in monolithic and toughened ceramics. The test specimen and procedure has demonstrated its ability to generate and stably propagate sharp, through-thickness cracks in brittle high modulus materials. Crack growth for an aluminum oxide ceramic was observed to be continuously stable throughout testing. Conversely, the fracture behavior of a silicon nitride ceramic exhibited crack growth as a series of subcritical extensions which are interrupted by dynamic propagation. Dynamic initiation and arrest fracture resistance measurements for the silicon nitride averaged 67 and 48 J/sq m, respectively. The dynamic initiation event was observed to be sudden and explosive. Increments of subcritical crack growth contributed to a 40 percent increase in fracture resistance before dynamic initiation. Subcritical crack growth visibly marked the fracture surface with an increase in surface roughness. Increments of subcritical crack growth loosen ceramic material near the fracture surface and the fracture debris is easily removed by a replication technique. Fracture debris is viewed as evidence that both crack bridging and subsurface microcracking may be some of the mechanisms contributing to the increase in fracture resistance. A Statistical Fracture Mechanics model specifically developed to address subcritical crack growth and fracture reliability is used together with a damaged zone of material at the crack tip to model experimental results. A Monte Carlo simulation of the actual experiments was used to establish a set of modeling input parameters. It was demonstrated that a single critical parameter does not characterize the conditions required for dynamic initiation. Experimental measurements for critical crack lengths, and the energy release rates exhibit significant scatter. The resulting output of the model produces good agreement with both the average values and scatter of experimental measurements.
The interaction of many peptides with lipid bilayer membranes strongly depends on the lipid composition. Here, a study of the impact of unsaturated lipid acyl chains on the interaction of a derivative of the HIV-1 fusion peptide with lipid bilayer vesicles is presented. Lipid bilayer vesicles composed of mixtures of lipids with two saturated acyl chains and lipids and one saturated and one unsaturated acyl chain, but identical head groups, were studied. The dependence of the peptide conformation on the unsaturated lipid content was probed by circular dichroism spectroscopy, while the impact of the peptide on the bilayer structure was determined by small-angle neutron scattering. The impact of the peptide on the lipid bilayer vesicle dynamics was investigated using neutron spin echo spectroscopy. Molecular dynamics simulations were used to characterize the behavior of the systems studied to determine if there were clear differences in their physical properties. The results reveal that the peptide–bilayer interaction is not a simple function of the unsaturated lipid acyl chain content of the bilayer. Instead, the peptide behavior is more consistent with that seen for the bilayer containing only unsaturated lipids, which is supported by lipid-specific interactions revealed by the simulations.
The rotating-wall perfused-vessel (RWPV) bioreactor, used for both microgravity and Earth-based cell science experiments, is characterized in terms of the fluid dynamic and fluid shear stress environment. A numerical model of the flow field is developed and verified with laser Doppler velocimeter measurements. The effects of changes in operating conditions, including rotation rates and fluid perfusion rates, are investigated with the numerical model. The operating conditions typically used for ground-based experiments (equal rotation of the inner and outer cylinders) leads to flow patterns with relatively poor mass distribution characteristics. Approximately 50% of the inlet-perfused fluid bypasses the bulk of the fluid volume and flows to the perfusion exit. For operating conditions typical in microgravity, small differential rotation rates between the inner and outer cylinders lead to greatly improved flow distribution patterns and very low fluid shear stress levels over a large percentage of the fluid volume. Differences in flow patterns for the different operating conditions are explored. Large differences in the hydrodynamic environments for operating conditions typical of true microgravity and ground-based "microgravity simulations" are demonstrated.
Polymer-based composites frequently encounter damage, often lurking beneath the surface and proving challenges to their early detection and repair. While material-based sensors show promise for encoding self-sensing properties within these composites, their in situ healing and reprocessability remain significant challenges. Therefore, the overarching goal of this study is the creation of a reprocessable polymeric composite encoded with self-healing attributes and the ability to autonomously sense damage. At the core of this innovation are vitrimers, a polymeric material characterized by a covalently adaptive dynamic network responsive to external factors such as heat. They combine thermoset-like resilience with thermoplastic-like flowability on demand under external stimuli. We nanoengineer a polyester-based vitrimeric polymer by incorporating piezoresistive carbon nanotubes (CNTs) as reinforcing elements that not only enhance its mechanical strength but also create a percolation network within the composite, thereby enabling piezoresistive self-sensing properties, all the while preserving the intrinsic self-healing capabilities offered by the vitrimeric matrix. The fabrication process of the composite involves a solvent-free in situ polymerization method that combines epoxy and anhydride-containing monomers with ~ 0.1 wt.% of CNTs. Once it was established that the introduction of CNTs into the polymeric matrix did not compromise the mechanical properties of the composite, their strain-sensing properties were characterized by applying cyclic loading while measuring their electrical resistance. Strikingly, CNT-enhanced vitrimer composite consistently retains its mechanical and sensing properties through repeated cycles of reshaping and reprocessing, underscoring its potential as a robust distributed strain sensor. This polyester-based vitrimeric composite is also easily recyclable without harsh chemical treatments. Preliminary findings from this study conclusively demonstrate that the bulk composite boasts both self-sensing capabilities and in situ detect healing properties, charting a promising course towards the development of a mechanically resilient multifunctional composite that seamlessly integrates selfsensing and healing capabilities.
A liquid bridge is a volume of liquid held between two or more solid supports. In the case of small disk supports with a sharp edge, the contact line between the bridge and the support disk will be anchored along the edge of the disk. For these cases the solid presents a geometrical singularity and the contact angle is indeterminate within a given range. This dissertation presents research conducted on liquid bridges with anchored contact lines. The three major topics covered are: determining the role of support geometry on static equilibria, liquid bridge dynamical behavior, and forces exerted by a liquid bridge on a support structure. The work was primarily experimental and conducted in a "Plateau tank" that allowed for the simulation of equivalent low-gravity conditions. The main thrust of the experimental work involved the use of a high resolution optical measurement system for imaging the dynamic zone shape, measurement of the static and dynamic contact angles and non-invasive analysis of excited surface modes. The liquid bridge was manipulated by computer controlled linear actuators which allowed precise control over the physical characteristics of the bridge. Experiments have been carried out to locate a bifurcation point along the maximum volume axisymmetric stability margin. Below the critical slenderness the bifurcation from an axisymmetric to a stable nonaxisymmetric configuration is supercritical. However, above this critical slenderness, the bifurcation is subcritical. A series of experiments analyzed the effect on axisymmetric bridge stability by using support disks of different radii, The shape behavior as transition points were approached, as well as the limiting case of a vanishing support radius was investigated. Experiments were performed to determine the resonant frequencies of axisymmetric bridges subject to lateral vibrations. Anomolous results led to a series of experiments to characterize nonlinearities present in the dynamic bridge shape. Finally, an attempt was made to experimentally measure the force exerted by the bridge on the lower support disk. This was done through use of a force balance apparatus. Particular attention was paid to the behavior of the bridge as the minimum volume stability limit was approached.
There is a need to characterize complex materials and their dynamics under reaction conditions to accelerate materials design. Adsorbate vibrational excitations are selective to adsorbate/surface interactions and infrared (IR) spectra associated with activating adsorbate vibrational modes are accurate, capture details of most modes, and can be obtained operando. Current interpretation depends on heuristic peak assignments for simple spectra, precluding the possibility of obtaining detailed structural information. Here, we combine data-based approaches with chemistry-dependent problem formulation to develop physics-driven surrogate models that generate synthetic IR spectra from first-principles calculations. Using synthetic IR spectra of carbon monoxide on platinum, we implement multinomial regression via neural network ensembles to learn probability distributions functions (pdfs) that describe adsorption sites and quantify uncertainty. We use these pdfs to infer detailed surface microstructure from experimental spectra and extend this methodology to other systems as a first step towards characterizing complex interfaces and closing the materials gap.
This study quantifies the effects of epistemic uncertainty in soil parameters on nonlinear (NL) site response analysis (SRA) results, validated against the data recorded at a well-instrumented geotechnical downhole array located in Japan. To this end, a one-dimensional soil column model of the Service Hall Array (SHA) near the Kashiwazaki-Kariwa Nuclear Power Plant (KKNPP) is developed using the finite element (FE) program LS-DYNA. The dynamic stress–strain relationship is characterized by a modified two-stage hyperbolic (MTH) NL backbone curve formulation capable of capturing soil behavior at both small- and large-shear strains. The model is then validated against the ground motion recordings to capture the model bias. The uncertainties associated with the shear-wave velocity profile (a small-strain soil property) and soil shear strength (a large-strain soil property) are incorporated in NL SRA to quantify their separate and joint randomization effects on the results. This study proposes using the Latin Hypercube Sampling (LHS) method as an efficient alternative to commonly used methods, such as Standard Monte Carlo (SMC), to account for uncertainty propagation in such reliability analysis. Both low-intensity and design-level records from the recordings at the SHA are applied to study the contribution of the small- and large-strain NL dynamic soil properties. Results from 46,200 NL FE analyses (23,100 per input motion) are presented. Measured and predicted site response, using recorded ground motions at this downhole array, is compared to assess the significance of soil parameter uncertainty on the observed ground motion dispersions. It is demonstrated that increasing the number of soft realizations and implementing higher level earthquake intensity lead to higher ground motion dispersion. Unlike past studies in randomization of Vs profiles with the SMC method, the LHS method is shown to have no significant effect on the predicted median surface response spectra and amplification factors (AFs) for this case study.
The pupillary light reflex (PLR) is known to be driven by the photo-entrainment of intrinsically-photosensitive retinal ganglion cells. These ganglion cells are known to have retino-hypothalamic projections to the suprachiasmatic nuclei (SCN), which regulates circadian rhythms, and bilateral retinal projections to the pretectal area, which mediates the PLR (Dacey et al., 2005; Hattar et al., 2002, 2006). The magnitude of the PLR has previously been shown to show circadian variation (Mnch et al., 2012). In this study, we used a constant routine protocol (Mills et al., 1978) to examine circadian and fatigue effects on the dynamics of the PLR. We characterized the PLR (pupil size as a function of time) in response to a square-wave change in the luminance of a white display background, at ten different times over a single circadian cycle. Twelve subjects participated in three daytime baseline runs followed by 7 nighttime runs each separated by an hour (17 23 hours after awakening). The constriction and dilation phases of the PLR waveform were fit separately with a single exponential model (Longtin Milton, 1988; Milton Longtin, 1990) with time constants estimated using a least-squares method. The dilation time constant exhibited a distinct sinusoidal modulation across the circadian cycle and, after 23 hours of wakefulness, decreased on average by 82 ms (paired t-test, p 0.05) relative to baseline (mean: 543 ms). The constriction time constant however, did not show an overall decrease with increased wakefulness. We conclude that the dynamics of the PLR show circadian variation and that, in addition, the briskness of the dilation response to a step-decrease in luminance shows a homeostatic enhancement with increased wakefulness.
Solid polymer electrolytes are promising in fulfilling the requirements for a stable lithium metal anode toward higher energy and power densities. In this work, we investigate the segmental dynamics, ionic conductivity, and crystallinity of a polymer electrolyte consisting of poly(ethylene oxide) (PEO) and lithium triflate salt, in the semi-crystalline state. Using quasi-elastic neutron scattering, the segmental dynamics of PEO chains confined between the crystalline lamellae is quantified, using Cole–Cole analysis. We show that the structural relaxation time, τ 0 , of PEO equilibrated near room temperature is six-fold longer than the same sample that had just cooled down to room temperature. This corresponds to a three-fold smaller ionic conductivity in the equilibrated condition. This work reveals that the segmental dynamics of semi-crystalline polymer electrolytes is very sensitive to thermal history. We demonstrate that quasi-elastic neutron scattering can be used to characterize the ion transport and segmental dynamics in the semi-crystalline state.
The Sample Acquisition/Sample Processing and Handling subsystem for the Mars Science Laboratory is a highly-mechanized, Rover-based sampling system that acquires powdered rock and regolith samples from the Martian surface, sorts the samples into fine particles through sieving, and delivers small portions of the powder into two science instruments inside the Rover. SA/SPaH utilizes 17 actuated degrees-of-freedom to perform the functions needed to produce 5 sample pathways in support of the scientific investigation on Mars. Both hardware redundancy and functional redundancy are employed in configuring this sampling system so some functionality is retained even with the loss of a degree-of-freedom. Intentional dynamic environments are created to move sample while vibration isolators attenuate this environment at the sensitive instruments located near the dynamic sources. In addition to the typical flight hardware qualification test program, two additional types of testing are essential for this kind of sampling system: characterization of the intentionally-created dynamic environment and testing of the sample acquisition and processing hardware functions using Mars analog materials in a low pressure environment. The overall subsystem design and configuration are discussed along with some of the challenges, tradeoffs, and lessons learned in the areas of fault tolerance, intentional dynamic environments, and special testing
Porosity defects remain a significant challenge in the laser powder bed fusion (LPBF) process, adversely affecting the mechanical properties and reliability of additively manufactured components. Here, this study investigates the real-time formation and trajectory of gas bubbles during LPBF of Al6061 alloy using advanced in-situ X-ray characterization and machine learning. The unsupervised Gaussian mixture model and particle tracking algorithm developed are able to precisely track and quantify the properties of gas bubbles and keyhole pores. Our analysis identified five distinct types of gas bubble formation and movement patterns, emphasizing the diverse origins and behaviors of these defects. It enables precise quantification of trajectories, velocities, and morphological changes of gas bubbles, offering a granular view of the subsurface dynamics within the melt pool. Additionally, we explored keyhole-induced pore dynamics, revealing the critical role of keyhole oscillation and collapse for the formation of both large and small gas pores. It defines four different regions of gas bubble movement within the melt pool, providing a clearer understanding of how local fluid dynamics affect pore behavior. The results underscore the importance of integrating in-situ experimental observation and automated machine learning to develop a more robust predictive model for defect formation in LPBF.
In numerical simulations of multi-scale, multi-phase flows, grid refinement is required to resolve regions with small scales. A notable example is liquid-jet atomization and subsequent droplet dynamics. It is essential to characterize the detailed flow physics with variable length scales with high fidelity, in order to elucidate the underlying mechanisms. In this paper, two thickness-based mesh refinement schemes are developed based on distance- and topology-oriented criteria for thin regions with confining wall/plane of symmetry and in any situation, respectively. Both techniques are implemented in a general framework with a volume-of-fluid formulation and an adaptive-mesh-refinement capability. The distance-oriented technique compares against a critical value, the ratio of an interfacial cell size to the distance between the mass center of the cell and a reference plane. The topology-oriented technique is developed from digital topology theories to handle more general conditions. The requirement for interfacial mesh refinement can be detected swiftly, without the need of thickness information, equation solving, variable averaging or mesh repairing. The mesh refinement level increases smoothly on demand in thin regions. The schemes have been verified and validated against several benchmark cases to demonstrate their effectiveness and robustness. These include the dynamics of colliding droplets, droplet motions in a microchannel, and atomization of liquid impinging jets. Overall, the thickness-based refinement technique provides highly adaptive meshes for problems with thin regions in an efficient and fully automatic manner.
Off-channel areas are one of the most impacted aquatic habitats by humans globally, as extensive agricultural and urban development has limited them to roughly 10% of historical extent. This is also true for California’s Sacramento River Valley, where historically frequent widespread inundation has been reduced to a few off-channel water bodies along the mid-Sacramento River. This remaining shallow-water habitat provides crucial ecological benefits to multiple avian and fish species, but especially to floodplain-adapted species such as Chinook salmon (Oncorhynchus tshawytscha). Characterizing spatiotemporal off-channel dynamics, including inundation extent and residence time, is fundamental to better understanding the intrinsic value of such habitats and their potential to support recovery actions. Remote sensing techniques have been increasingly used to map surface water at regional and local scales, with improved resolutions. As such, this study maps off-channel inundation areas and describes their temporal dynamics by analyzing pixel-based time- series of multiple water indices, modified Normalized Difference Water Index (mNDWI) and the Automated Water Extraction Index (AWEI), generated from LandSat-8 and Sentinel-2 data between 2013–2021. Quantified off-channel area was similar with each water index and method used, but improved performance was associated with Sentinel-2 products and AWEI index to identify wetted areas under lower mainstem discharges. Results indicate an uneven distribution of off-channel habitat in the study area, with limited inundated areas in upstream reaches (<16% of total off-channel area for greater flows). In addition, much less habitat exists for flows under 400 m 3 /s, an important migration cue for endangered winter-run Chinook salmon, limiting juvenile access to areas with enhanced rearing conditions. Off-channel habitat residence times averaged between 7 and 16 days, primarily defined by the rate of receding flows, with rapid flow recession providing marginal off-channel habitat. This study shows reasonable performance of moderate resolution LandSat-8 and Sentinel-2 remote sensing imagery to characterize shallow-water inundated habitat in higher-order rivers, and as a method to inform restoration and native fish recovery efforts.
The NASA PACE mission is a hyper-spectral radiometer planned for launch in the next decade. It is intended to provide new information on ocean biogeochemical constituents by parsing the details of high resolution spectral absorption and scattering. It is the first of its kind for global applications and as such, poses challenges for design and operation. To support pre-launch mission development and assess on-orbit capabilities, the NASA Global Modeling and Assimilation Office has developed a dynamic simulation of global water-leaving radiances, using an ocean model containing multiple ocean phytoplankton groups, particulate detritus, particulate inorganic carbon (PIC), and chromophoric dissolved organic carbon (CDOC) along with optical absorption and scattering processes at 1 nm spectral resolution. The purpose here is to assess the skill of the dynamic model and derived global radiances. Global bias, uncertainty, and correlation are derived using available modern satellite radiances at moderate spectral resolution. Total chlorophyll, PIC, and the absorption coefficient of CDOC (aCDOC), are simultaneously assimilated to improve the fidelity of the optical constituent fields. A 5-year simulation showed statistically significant (P < 0.05) comparisons of chlorophyll (r = 0.869), PIC (r = 0.868), and a CDOC (r =0.890) with satellite data. Additionally, diatoms (r = 0.890), cyanobacteria (r = 0.732), and coccolithophores (r = 0.716) were significantly correlated with in situ data. Global assimilated distributions of optical constituents were coupled with a radiative transfer model (Ocean-Atmosphere Spectral Irradiance Model, OASIM) to estimate normalized water-leaving radiances at 1 nm for the spectral range 250-800 nm. These unassimilated radiances were within 0.074 mW/sq cm/micron/sr of MODIS-Aqua radiances at 412, 443, 488, 531, 547, and 667 nm. This difference represented a bias of 10.4% (model low). A mean correlation of 0.706 (P < 0.05) was found with global distributions of MODIS radiances. These results suggest skill in the global assimilated model and resulting radiances. The reported error characterization suggests that the global dynamical simulation can support some aspects of mission design and analysis. For example, the high spectral resolution of the simulation supports investigations of band selection. The global nature of the radiance representations supports investigations of satellite observing scenarios. Global radiances at bands not available in current and past missions support investigations of mission capability. PACE, ocean color, water-leaving radiances, biogeochemical model, radiative transfer model
In this work we have studied the nonlinear preheating dynamics of several inflationary models. It is well established that after a linear stage of preheating characterized by the parametric resonance, the nonlinear dynamics becomes relevant driving the system towards turbulence. Wave turbulence is the appropriated description of this phase since the matter contents are fields instead of usual fluids. Turbulence develops due to the nonlinear interations of waves, here represented by the small inhomogeneities of the scalar fields. We present relevant aspects of wave turbulence such as the Kolmogorov-Zakharov spectrum in frequency and wave number that indicates the energy transfer through scales. From the power spectrum of the matter energy density we were able to estimate the temperature of the thermalized system.