skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.


Title: Topological mechanics of knots and tangles
Knots play a fundamental role in the dynamics of biological and physical systems, from DNA to turbulent plasmas, as well as in climbing, weaving, sailing, and surgery. Despite having been studied for centuries, the subtle interplay between topology and mechanics in elastic knots remains poorly understood. Here, we combined optomechanical experiments with theory and simulations to analyze knotted fibers that change their color under mechanical deformations. Exploiting an analogy with long-range ferromagnetic spin systems, we identified simple topological counting rules to predict the relative mechanical stability of knots and tangles, in agreement with simulations and experiments for commonly used climbing and sailing bends. Our results highlight the importance of twist and writhe in unknotting processes, providing guidance for the control of systems with complex entanglements.  more » « less
Award ID(s):
1922321
PAR ID:
10192288
Author(s) / Creator(s):
; ; ;
Date Published:
Journal Name:
Science
Volume:
367
Issue:
6473
ISSN:
0036-8075
Page Range / eLocation ID:
71 to 75
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. Abstract The mechanical response of a knot tied in elastic rods strongly depends on the frictional force due to rod–rod contact. The behavior of a knot can be qualitatively different based on the frictional coefficient of the elastic rod. Systematic variation of friction during rod–rod contact is a crucial component of any experimental design to uncover the underlying ingredients behind the mechanics of knots. In this paper, we demonstrate a novel process of controlling the friction of a continuous rod by adhering non-spherical inorganic micro-particles. Polymeric binder is used to deliver the particles as asperities over the rod substrate and by controlling their size and distribution the coefficient of friction of the rod is determined. In parallel, numerical simulations with the discrete elastic rods algorithm are used to reproduce the experimental observations. Tabletop experiments are performed where overhand knots with a variety of unknotting numbers are pulled tight. The force–extension curve of these experiments shows that the proposed process can successfully tune the friction between rods. 
    more » « less
  2. Yong, Xin (Ed.)
    Knots in proteins and DNA are known to have significant effect on their equilibrium and dynamic properties as well as on their function. While knot dynamics and thermodynamics in electrically neutral and uniformly charged polymer chains are relatively well understood, proteins are generally polyampholytes, with varied charge distributions along their backbones. Here we use simulations of knotted polymer chains to show that variation in the charge distribution on a polyampholyte chain with zero net charge leads to significant variation in the resulting knot dynamics, with some charge distributions resulting in long-lived metastable knots that escape the (open-ended) chain on a timescale that is much longer than that for knots in electrically neutral chains. The knot dynamics in such systems can be described, quantitatively, using a simple one-dimensional model where the knot undergoes biased Brownian motion along a “reaction coordinate”, equal to the knot size, in the presence of a potential of mean force. In this picture, long-lived knots result from charge sequences that create large electrostatic barriers to knot escape. This model allows us to predict knot lifetimes even when those times are not directly accessible by simulations. 
    more » « less
  3. Cost-surface analyses in geographic information systems (GIS) can be a useful tool for approximating the travel of historic sailing ships to fill gaps in the historic record. We present the Global-TRANSIT workflow, a least-cost surface raster analysis that uses wind speed and direction to estimate sailing routes and durations for ports globally. Our workflow, freely available as a Python notebook for ArcGIS Pro, makes three contributions relative to previously published toolkits. First, our workflow estimates sail travel for ports at the global scale while accounting for projection-related challenges. Second, our workflow evaluates origin and destination pairs in a many-origins-to-many-destinations matrix structure (compared to previous one-origin-to-one-destination relationship) which increases the scalability of our toolbox. Third, our workflow replaces the deprecated tools used in the previous work with newer tools that reduce the grid-induced bias. Despite the expected limitations of modeling a complex phenomenon like sailing, we find a high correlation between our modeled estimates and historically observed sail duration and routes. The outputs of Global-TRANSIT provide an approximation of the likely duration and route of sail travel between worldwide ports, serving as a reference for understanding historic sail voyage patterns globally and as a benchmark for measuring the evolution of maritime shipping over time. 
    more » « less
  4. Robot swarms offer significant potential for inspecting di- verse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources and limits productivity. Inspired by biological systems, we introduce a novel cooperative localization mech- anism that minimizes collective computation expenditure through self- organized sacrifice. Here, a few agents bear the computational burden of localization; through local interactions, they improve the inspection pro- ductivity of the swarm. Our approach adaptively maximizes inspection productivity for unconstrained trajectories in dynamic interaction and environmental settings. We demonstrate the optimality and robustness using mean-field analytical models, multi-agent simulations, and hard- ware experiments with metal climbing robots inspecting a 3D cylinder. 
    more » « less
  5. null (Ed.)
    In contrast to traditional mobile robots, renewably powered mobile robotic systems offer the potential for unlimited range at the expense of highly stochastic mobility. Robotic sailboats, termed sailing drones, represent one such example that has received recent attention. After providing a detailed model and corresponding velocity polar for a candidate customized robotic sailboat, this paper presents a stochastic dynamic programming (SDP) approach for time-optimal control of sailing drones in a stochastic wind resource, which provides a feedback control policy to minimize expected time to a prescribed waypoint. The paper provides a Monte Carlo study of the impact of wind direction volatility on the resulting routes, along with an assessment of robustness to mismatches between actual and assumed volatility. 
    more » « less