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Thesis Introduction, Single Chapter, and Conclusion including work supported by Sandia LDRD project. This is not the entire Thesis document, which is much longer.
Ground motions recorded at one location are often extrapolated to nearby regions within a given radius. Here, we explore the appropriateness of spatial extrapolation using data from seven small aperture seismic network deployments in southern California. Six of these deployments are linear arrays of 4-13 stations, and one is a 2D array of 13 stations at Pinyon Flats Observatory. The spatial footprint array diameters are 3 km or less, and each array was operational for a year or more. From our base catalog (M2.5+ earthquakes; 4038 events; September 2010 - June 2023), automated methods remove temporally overprinted waveforms from nearby events (< 5 km) in quick succession (< 5 min) and data with nonviable waveforms. These 200 samples per second data are filtered at 0.5-25 Hz and must have signal-tonoise ratios (SNRs) of 2.5+. Peak ground acceleration (PGA) and peak ground velocity (PGV) are derived individually from the maximum absolute values of each of the 3-component waveforms (vertical, northsouth, and east-west). Five of the seven arrays traverse the San Jacinto fault, and two do not. Ground motion observations are compared with theoretical estimates from Abrahamson et al., 2014. On average, arrays deployed within and across fault zones consistently record ground motions above theoretical expectations, whereas off-fault arrays record ground motions at or slightly below theoretical expectations. We attribute these differences to site conditions because these trends prevail for the full data suites. For each network and each individual channel, the coefficient of variation indicates that the standard deviations are ~30±6% of the mean. Exploring relative ground motion contributions from all three channels (ternary plots), as expected, most data show that vertical ground motions are attenuated compared to horizontal ones. However, this is not always the case for RA array data, where vertical motions can be ~2-3 times larger than horizontal motions for select events near Cahuilla, CA. These anomalously high vertical motions are focal mechanism-related. These results suggest that ternary plots created using only a small amount of data can be used as a data quality metric and a tool to find anomalous features in three-component data.
A concern in the deployment of large wind turbines on ocean floating platforms is the effect of floating-platform motions on their electrical power generation. Further, it is not clear how floating motions influence waking, which might affect the combined power generation of collections of turbines. We examine the average power output of a single and a collection of NREL 5 MW wind turbines mounted on a tension-leg platform (TLP) under the action of fully developed ocean wave motions, coupling floating motions with the large-eddy simulation (LES) of atmospheric and rotor dynamics. The ocean dynamics enter as fully developed waves derived from the Pierson–Moskowitz spectrum. To assess the influence of ocean motions, we performed simulations over the full range of wind speeds in the operational range of the turbine, reporting comparisons of average power output when the platforms are allowed to move to when they are held rigidly in place. In all simulations, we find that the effects of the TLP floating-platform's induced motions have a minor effect on single and multiple turbine power production and wake deficits. Even when using coherent and large amplitude harmonic-floating-induced perturbations, any significant wake modifications from floating motions are confined to the near-wake region, where downstream turbines are unlikely to be located. The relatively small amplitude of TLP motions relative to pre-existing turbulent fluctuations are the primary reason for low wake and power modifications downstream.
In contrast to the common viewpoint that bacteriochlorophyll (BChl) motion is largely absent within the chlorosome assembly, physics-based modeling points to a crucial role of the nanoscale librational motion of the macrocycle for the transfer of excitons. To elucidate this motion experimentally, compositional uniformity and high sensitivity are required. We focused on uniformly 13 C labeled chlorosome preparations from the bchQ mutant Chlorobaculum tepidum with significantly enhanced structural homogeneity. The librational motion is characterized using Rotational Echo DOuble Resonance (REDOR), and in addition, the impact of temperature on specific functionalities within BChl molecules is studied with 1-dimensional and 2-dimensional dipolar and scalar-based MAS NMR measurements. Results show the gradual freezing of the tails and side chains of the BChls with decreasing temperature. However, the librational motion analyzed by measuring the 5C–H dipolar coupling strength obtained from REDOR data sets persists at different temperatures. REDOR simulations show a close match to the experimental dephasing frequency of oscillation for a dipolar coupling strength of 17.5 ± 0.5 kHz which is considerably less than the dipolar coupling strength of 22.7 kHz in the rigid limit. Following a two-site jump model, we arrive at an estimate for BChl libration sampling at an angle of θ = 48 ± 4°, corroborating that the macrocycle indeed experiences significant librational motion on a time scale that is short compared to the NMR measurement time. This finding is in full quantitative support of the dominant rotational motion exhibited by the BChl macrocycle estimated from early MD simulations.
This study presents a dual heat and light-responsive monolithic liquid crystal elastomers (LCEs) film designed to enhance actuation control. The LCE films were capable of various motion types, including curvature reversal, oscillation, and sustainable flipping. By incorporating an azobenzene compound, the films exhibited additional functionalities such as enhanced curvature reversal, accelerated oscillation, and the ability to lock continuous flipping motion upon light stimulation. Furthermore, by adjusting the aspect ratio (AR) of a single film, different thermal motion states were realized, demonstrating the flexibility of this approach. Observations using an NIR camera confirmed temperature fluctuations corresponding to thermal exchange, and the influence of UV light on motion regulation was quantitatively analyzed. In conclusion, the ability to regulate motion through dual stimuli paves the way for improved dynamic motion control and thermal management in advanced robotic applications.
The dynamic behaviour of floating offshore wind turbines (FOWTs) involves complex interactions of multivariate loads from wind, waves, and currents, which result in complex motion characteristics. Although methods for analysing global motion responses are well-established, the time- and location-dependent kinematics remain underexplored. This paper investigates the instantaneous centre of rotation (ICR), a point of zero velocity at a time instance of general plane motion. Understanding and strategically positioning the ICR can reduce the dynamic motion in critical structural locations, enhancing the performance and structural robustness of FOWTs. The paper presents a method for computing the ICR using time-domain simulation results and proposes a statistical analysis approach suitable for design studies. Building on prior research, it examines the sensitivity of the ICR to external loading and design features, providing insights into how these factors influence motion response and how the motion response influences the statistics of the ICR, structural loads, and other performance metrics of interest. The study explores two FOWT configurations, a spar and a semisubmersible, identifying design variables that most effectively control the ICR statistics and identifying the ICR statistics most correlated with the responses of interest. Finally, through two case studies, we demonstrate how to apply these new insights in a practical design scenario. By adjusting the design variables most correlated with the ICR (fairlead vertical position and centre of mass for the spar and mooring line length and offset column diameter for the semisubmersible), we successfully modified the designs of the floating support structures to reduce the loads in the mooring lines, tower base, and blade roots, improving the ultimate strength and fatigue characteristics compared to the original designs.
The uncertainty and irregularity of ocean waves and the ocean environment is a major factor in the development of commercial scale floating wind turbines as the operation of floating structures in such an environment can lead to irregular and unpredictable loading, fatigue, and ultimately a reduction in the operational life of the turbine system which affects energy production over the lifetime of the turbine. Control solutions that can limit float motions and mitigate stressful events on the structure become essential for extending lifetime and limiting the operational uncertainty of a floating wind turbine. Digital twins are computational replicas of physical systems that operate in parallel with the operation of the physical system. Given advanced knowledge of a systems input, digital twins have the ability to predict the behavior of a system in advance, which can be valuable in the control of that system. In this project, we developed and assessed potential digital twin models developed in house and openly available (OpenFast) for use in the real time control of the six degree of freedom response motions of a floating wind turbine in ocean waves. Coupling these models with near-field real time irregular sea surface (wve) measurement/sensings and prediction models, we used the digital twin to predict how the floating turbine will respond to the incoming waves. Applying this information to a motion control system of the float, one can limit and control float motions to prevent undesirable loading events/large angular motions, thus increasing system life and ultimately contributing to optimizing energy production. Due to the computational intensity of operating a digital twin in real time, we investigated the use of artificial intelligence techniques to speed-up the processes of the digital twin, as well as the wave reconstruction/prediction models. Model tank testing at the University of Rhode Island and University of Maine both validated and demonstrated the developed techniques on simple float geometries and a scale model of the NREL 15 MW reference turbine.
Accurate self-motion estimation is critical for various navigational tasks in mobile robotics. Optic flow provides a means to estimate self-motion using a camera sensor and is particularly valuable in GPS- and radio-denied environments. The present study investigates the influence of different activation functions—ReLU, leaky ReLU, GELU, and Mish—on the accuracy, robustness, and encoding properties of convolutional neural networks (CNNs) and multi-layer perceptrons (MLPs) trained to estimate self-motion from optic flow. Our results demonstrate that networks with ReLU and leaky ReLU activation functions not only achieved superior accuracy in self-motion estimation from novel optic flow patterns but also exhibited greater robustness under challenging conditions. The advantages offered by ReLU and leaky ReLU may stem from their ability to induce sparser representations than GELU and Mish do. Our work characterizes the encoding of optic flow in neural networks and highlights how the sparseness induced by ReLU may enhance robust and accurate self-motion estimation from optic flow.
The shape of an aerosol particle strongly influences its mass and momentum transfer cross-sections, charging properties, and other physical properties. Here, we present an explicit time-stepping procedure to simulate the rotational Brownian motion of arbitrary shaped aerosol particles by solving Euler’s equation of rotation. A Langevin formulation of the rotation equations is used, wherein Brownian motion due to thermal collisions between a particle and background gas molecules is represented using a stochastic fluctuating torque and fluid resistance is included as a drag torque. To avoid singularities associated with describing the orientation of a shape with Euler angles, we employ a quaternion formulation that leads to first-order stochastic differential equations to describe the evolution of the angular position and angular velocity of a rigid body. We perform all the rotational dynamics calculations in the body-fixed frame of reference attached to the rotating shape whose basis vectors are the normalized eigenvectors of the inertia tensor of the particle. Numerical solutions to rotation under torque-free conditions, damped rotation without Brownian motion, and stochastic rotation for arbitrary shapes are presented and discussed. The presented method enables time-resolved simulation of Brownian rotation for direct comparison with experimentally measured trajectories or statistical measures. The second order accuracy of the used time-stepping procedure places a severe restriction on the timestep that can be used for obtaining accurate results. Animations of presented simulations are included for visualizing rotational motion at various gas pressures. To aid implementation, MATLAB ® codes are also provided. Extension to include translation Brownian motion is straightforward.
In this study, we evaluated the performance of the United States Geological Survey velocity model developed for the San Francisco Bay Area (SFBA), version 21.1. The evaluation was performed through high-resolution three-dimensional physics-based ground motion simulations of seven small-magnitude earthquakes (ranging from magnitude 3.8 to 4.4) that occurred on the eastern side of the San Francisco Bay. The simulations were performed in the frequency range from 0 to 5 Hz with a minimum shear-wave velocity of 250 m/s, which allowed the capture of wave propagation effects of the near-surface soft materials that characterize local basins. Based on the direct comparison of Fourier amplitude spectra between recorded and simulated ground motions for more than 250 stations, we found that the velocity model generally performs well in the frequency range of 0.2–5 Hz. The median value of the Fourier amplitude residuals was found to be near zero for all seven earthquakes. The slight over-prediction of 0.2 log-natural units at frequencies above 3 Hz in our simulations was attributed to the potentially inaccurate representation of the source radiation pattern by a double-couple point source model, and simple representation of shallow small-scale underground structural complexity in the velocity model. Maps of spectral amplitude differences between the simulated and recorded data were used to identify areas responsible for systematic ground motion over-predictions or under-predictions. For example, while some sub-domains over soft sediments show over-prediction patterns, the block east of the Hayward fault is prone to exhibit patterns of under-prediction. These maps can be used to guide future refinements of the SFBA velocity model. Since our simulation methodology allows for the decoupling of the source and wave propagation effects, the ground motion data generated by our simulations can also be used to quantify the epistemic uncertainty due to the velocity model, in empirically based ground motion estimates for the SFBA.
The shear-wave velocity (V S ) structure plays an important role in characterizing site amplification. The Large-n Seismic Survey in Oklahoma (LASSO; 1820 stations) revealed large vertical ground-motion variability in a 25 km × 32 km area in northern Oklahoma. The LASSO array has a relatively simple and flat topography, typical in a sedimentary basin environment in the central United States. In this study, we use the dense array to investigate the velocity structure under the LASSO array and how vertical ground motions relate to the shallow-to-deep structures. We extract the fundamental-mode Rayleigh wave by cross-correlating one month of ambient noise (0.7–5 Hz). We use double-beamforming to measure the group and phase velocities and anisotropy. By jointly inverting the group and phase velocities, we obtain the V S structure. Here, we observe correlations between V S at depths of 0.1–1.5 km and vertical ground motions using sites on the stiffer Permian formations. The shallow Quaternary alluvium and terrace deposits can amplify vertical ground motions by a factor of 2–4.5 between 2 and 25 Hz and attenuate signals above 25 Hz. We use 1D V S profiles to simulate the SV-wave transfer functions. An average V S of 250 m/s in the upper 20–40 m may cause the observed amplification between 2 and 40 Hz. V S estimated by topographic slopes cannot predict the relative amplification. Our results highlight the large variability of site-dependent ground motion in a small local region and the importance of characterizing shallow structures to estimate seismic hazards. Small thickness variations of the shallow formation can significantly change the resonance amplitude and frequency, which likely reduces the coherency of the Rayleigh waves extracted from ambient noise.
In this study, we consider a novel method of sensing the motion of a wave energy converter during testing in a wave flume under the influence of incoming waves. The wave energy converter considered in our research is an oscillating surge wave energy converter, which is a hinged paddle that responds to incoming waves. Motion sensing is normally done with inertial sensors, which can hinder the motion due to suspended cables that carry power and transmit signals. Our proposed method is contactless and can be implemented economically. A camera is used to record different marker patterns affixed to the moving paddle and the motion deduced by pose estimation algorithms. Fiducial markers are commonly used for robot localization and in augmented reality. There are many types of fiducial markers, including ArUco-type markers which are accurate, fast and robust. The system consists of markers attached to the paddle element and recorded using a machine vision camera. A pose estimation algorithm is then applied to the detected markers to estimate the tilt of the paddle. In this work, we examine the challenges of image acquisition and calibration for underwater targets, compare the motion obtained by this new system with a calibrated tilt sensor and identify areas where the new system may be superior.
Nanoscale enzymes anchored to surfaces act as chemical pumps by converting chemical energy released from enzymatic reactions into spontaneous fluid flow that propels entrained nano‐ and microparticles. Enzymatic pumps are biocompatible, highly selective, and display unique substrate specificity. Utilizing these pumps to trigger self‐propelled motion on the macroscale has, however, constituted a significant challenge and thus prevented their adaptation in macroscopic fluidic devices and soft robotics. Using experiments and simulations, we herein show that enzymatic pumps can drive centimeter‐scale polymer sheets along directed linear paths and rotational trajectories. In these studies, the sheets are confined to the air/water interface. With the addition of appropriate substrate, the asymmetric enzymatic coating on the sheets induces chemically driven, buoyancy flows that controllably propel the sheet's motion on the air/water interface. The directionality and speed of the motion can be tailored by changing the pattern of the enzymatic coating, type of enzyme, and nature and concentration of the substrate. This work highlights the utility of biocompatible enzymes for generating motion in macroscale fluidic devices and robotics and indicates their potential utility for in vivo applications.
Ultrasmall nanomotors (<100 nm) are highly desirable nanomachines for their size-specific advantages over their larger counterparts in applications spanning nanomedicine, directed assembly, active sensing, and environmental remediation. While there are extensive studies on motors larger than 100 nm, the design and understanding of ultrasmall nanomotors have been scant due to the lack of high-resolution imaging of their propelled motions with orientation and shape details resolved. Here, we report the imaging of the propelled motions of catalytically powered ultrasmall nanomotors─hundreds of them─at the nanometer resolution using liquid-phase transmission electron microscopy. These nanomotors are Pt nanoparticles of asymmetric shapes (“tadpoles” and “boomerangs”), which are colloidally synthesized and observed to be fueled by the catalyzed decomposition of NaBH4 in solution. Statistical analysis of the orientation and position trajectories of fueled and unfueled motors, coupled with finite element simulation, reveals that the shape asymmetry alone is sufficient to induce local chemical concentration gradient and self-diffusiophoresis to act against random Brownian motion. Our work elucidates the colloidal design and fundamental forces involved in the motions of ultrasmall nanomotors, which hold promise as active nanomachines to perform tasks in confined environments such as drug delivery and chemical sensing.
The recent development of neural operator (NeurOp) learning for solutions to the elastic wave equation shows promising results and provides the basis for fast large-scale simulations for different seismological applications. In this article, we use the Fourier neural operator (FNO) model to directly solve the 3D Helmholtz wave equation for fast seismic ground-motion simulations on different frequencies and show the frequency bias of the FNO model, that is, it learns the lower frequencies better comparing to the higher frequencies. To reduce the frequency bias, we adopt the multistage FNO training, that is, after training a stage 1 FNO model for estimating the ground motion, we use a second FNO model as the stage 2 to learn from the residual, which greatly reduced the errors on the higher frequencies. By adopting this multistage training, the FNO models show reduced biases on higher frequencies, which enhanced the overall results of the ground-motion simulations. Thus the multistage training FNO improves the accuracy and realism of the ground-motion simulations.
Abstract The coupling between the spin degrees of freedom and macroscopic mechanical motions, including striction, shearing, and rotation, has attracted wide interest with applications in actuation, transduction, and information processing. Experiments so far have established the mechanical responses to the long‐range ordered or isolated single spin states. However, it remains elusive whether mechanical motions can couple to a different type of magnetic structure, the non‐collinear spin textures, which exhibit nanoscale spatial variations of spin (domain walls, skyrmions,etc.) and are promising candidates to realize high‐speed computing devices. Here, collective spin texture dynamics is detected with nanoelectromechanical resonators fabricated from 2D antiferromagnetic (AFM) MnPS 3 with 10 −9 strain sensitivity. By examining radio frequency mechanical oscillations under magnetic fields, new magnetic transitions are identified with sharp dips in resonant frequency. They are attributed to collective AFM domain wall motions as supported by the analytical modeling of magnetostriction and large‐scale spin‐dynamics simulations. Additionally, an abnormally large modulation in the mechanical nonlinearity at the transition field infers a fluid‐like response due to ultrafast domain motion. The work establishes a strong coupling between spin texture and mechanical dynamics, laying the foundation for electromechanical manipulation of spin texture and developing quantum hybrid devices.
Refractory multi-principal element alloys (RMPEAs) combine a chemically disordered lattice with a structurally ordered, single‐phase body‐centered cubic (bcc) crystal structure. Chemical fluctuations in these alloys give rise to significant energy barriers that impede dislocation motion. In this study, we use phase field dislocation dynamics to examine how spatial temperature fluctuations compete with randomness in energy barriers to affect the motion of long screw dislocations in three equi-atomic MoNbTa‐based RMPEAs: MoNbTa, MoNbTaW, and MoNbTaVW. Over a wide range of homologous temperatures (T h ≈ 0–0.6), we determined a screw dislocation ‘flow stress’ as the minimum applied stress to sustain continuous motion over a long excursion distance within a fixed timeframe. All three RMPEAs exhibit temperature dependent flow stress with three characteristic glide regimes: at low homologous temperatures, flow stress drops sharply, and screw glide remains planar and rectilinear; at intermediate homologous temperatures, the flow stress levels off as glide becomes planar but wavy; and at high homologous temperatures, flow stress plateaus as screws exhibit nonplanar, three‐dimensional motion. Glide kinetics and transition temperatures are controlled by the chemically induced fluctuations in the energy landscape. The rectilinear to wavy transition temperature is controlled by statistically weakest local barriers in the glide plane, whereas the wavy to 3D transition temperature is governed by statistically strongest local barriers. At low and intermediate homologous temperatures, the relative spread in energy barriers governs glide behavior by controlling the local kinetics of kink pair formation and kink pinning. At high homologous temperatures, the average barrier height governs the glide behavior by controlling the number of out-of-plane excursions during 3D glide. These findings reveal how random chemical fluctuations determine screw‐driven plasticity in RMPEAs, providing critical insight for the design of high temperature structural alloys.
The formation of planetesimals was an integral part of the cascading series of processes that built the terrestrial planets. To illuminate planetesimal formation, here we develop a refined thermal evolution model to calculate the formation ages of meteorite parent planetesimals. This model includes chemical reactions and phase changes during heating, as well as natural variations in the proportions of the constituent phases of these planetesimals. We find that the parent bodies of non-carbonaceous (NC) and carbonaceous (CC) iron meteorites start forming at very similar times ( ∼ 0.95 Myr after calcium-aluminium-rich inclusion [CAI] formation) and occupy overlapping time windows. NC and CC chondrite parent bodies formed later during non-overlapping periods. We combine these ages with proportions of isotopic end-members we recover from mixing models to construct records of motion throughout the protoplanetary disk. These records argue that NC and CC material traversed the barrier in the disk after ∼ 0.95 Myr after CAI formation. The onset of this motion coincided with planetesimal formation, indicating that the phenomenon that drove motion also triggered planetesimal formation. We argue that this feature also served as the semi-permeable barrier in the disk. Although its identity is uncertain, the effects this phenomenon had on the timing of planetesimal formation and motion through the disk can now serve as constraints on models of disk evolution. Models that reproduce these effects would elucidate the nature and implications of this phenomenon, which is key to unlocking a holistic model of terrestrial planet building.