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: Qualitative changes in bifurcation structure for soft vs hard impact models of a vibro-impact energy harvester
Vibro-impact phenomena in engineering systems, considered an adverse effect in some settings, are an intrinsic part of the mechanism in others. In energy harvesting, a vibro-impact component is often intentionally introduced to increase the power output or the system’s bandwidth. The impacts can be treated as “hard” for instantaneous impacts or “soft” for compliant materials. Since both types of models exhibit complex dynamics, a comparison is non-trivial. We develop a soft impact model for a vibro-impact energy harvester, calibrating it with the relevant hard impact model for large stiffness, and systematically compare the different phenomena and dynamics in various compliant regimes. Numerical results are used in two different parametric analyses, considering the bifurcation diagrams in terms of device size and external forcing parameters. Varying the natural frequency of the membranes that form the impact boundaries, we observe shifts in the bifurcation structure that promote period-1 orbits for increased softness parameters, often generating higher power output, but also introducing parameter sensitivities for increased softness. Complementary analytical results reveal unstable periodic orbits and co-existing behaviors, potentially missed by computational methods, that can influence the bifurcation structure and in turn the energy output. A non-dimensional formulation highlights the significance of ratios of external and natural frequencies in delineating soft and hard impact scenarios parametrically. The soft impact model exhibits new symmetry breaking bifurcations related to key quantities that characterize the soft impact dynamics, such as the effective restitution coefficients, the impact phase, and the contact time interval, not captured by hard impact models.  more » « less
Award ID(s):
2009270
PAR ID:
10588604
Author(s) / Creator(s):
; ;
Publisher / Repository:
American Institute of Physics
Date Published:
Journal Name:
Chaos: An Interdisciplinary Journal of Nonlinear Science
Volume:
32
Issue:
10
ISSN:
1054-1500
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. Abstract A combined analysis of smooth and non-smooth bifurcations captures the interplay of different qualitative transitions in a canonical model of an impact pair, a forced capsule in which a ball moves freely between impacts on either end of the capsule. The analysis, generic for the impact pair context, is also relevant for applications. It is applied to a model of an inclined vibro-impact energy harvester device, where the energy is generated via impacts of the ball with a dielectric polymer on the capsule ends. While sequences of bifurcations have been studied extensively in single- degree-of-freedom impacting models, there are limited results for two-degree-of-freedom impacting systems such as the impact pair. Using an analytical characterization of impacting solutions and their stability based on the maps between impacts, we obtain sequences of period doubling and fold bifurcations together with grazing bifurcations, a particular focus here. Grazing occurs when a sequence of impacts on either end of the capsule are augmented by a zero-velocity impact, a transition that is fundamentally different from the smooth bifurcations that are instead characterized by eigenvalues of the local behavior. The combined analyses allow identification of bifurcations also on unstable or unphysical solutions branches, which we term ghost bifurcations. While these ghost bifurcations are not observed experimentally or via simple numerical integration of the model, nevertheless they can influence the birth or death of complex behaviors and additional grazing transitions, as confirmed by comparisons with the numerical results. The competition between the different bifurcations and their ghosts influences the parameter ranges for favorable energy output; thus, the analyses of bifurcation sequences yield important design information. 
    more » « less
  2. Leveraging the elastic bodies of soft robots promises to enable the execution of dynamic motions as well as compliant and safe interaction with an unstructured environment. However, the exploitation of these abilities is constrained by the lack of appropriate control strategies. This work tackles for the first time the development of closed-loop dynamic controllers for a continuous soft robot. We present two architectures designed for dynamic trajectory tracking and surface following, respectively. Both controllers are designed to preserve the natural softness of the robot and adapt to interactions with an unstructured environment. The validity of the controllers is proven analytically within the hypotheses of the model. The controllers are evaluated through an extensive series of simulations, and through experiments on a physical soft robot capable of planar motions. 
    more » « less
  3. This work presents a prototype of a wireless, flexible, self-powered sensor used to analyze head impact kinematics relevant to concussions, which are frequent in high contact sports. Two untethered, paper-thin, and flexible sensing devices with piezoelectric-like behavior are placed around the neck of a human head substitute and used to monitor stress/strain in this region during an impact. The mechanical energy exerted by an impact force –varied in locations and magnitudes– is converted to pulses of electric energy which are transmitted wirelessly to a smart device for storage and analysis. The wireless prototype system is presented using a microcontroller with an integrated Bluetooth Low Energy module. The static and dynamic characteristics of the transmitted signal are then compared to signals from accelerometers embedded in a head substitute, to map the sensor’s output to the angular velocity and acceleration during impacts. It is demonstrated that using only two sensors is enough to detect impacts coming from any direction; and that placing multiple external sensors around the neck region could provide accurate information on the dynamics of the head, during a collision, which other sensors fail to capture. 
    more » « less
  4. A thin liquid droplet spreads on a soft viscoelastic substrate with arbitrary rheology. Lubrication theory is applied to the governing field equations in the liquid and solid domains, which are coupled through the free boundary at the solid–liquid interface, to derive a set of reduced equations that describe the spreading dynamics. Fourier transform techniques and the finite difference method are used to construct a solution for the dynamic liquid–gas and solid–liquid interface shapes, as well as the macroscopic contact angle. Substrate properties affect the spreading dynamics through the contact angle and internal droplet flow fields, and these mechanisms are revealed. Increased substrate softness increases the spreading rate, whereas increased viscoelasticity decreases the spreading rate. For the case of a purely elastic substrate, the spreading power-law exponent recovers Tanner's law in the rigid limit and increases with substrate softness. 
    more » « less
  5. Abstract Interactions between natural selection and population dynamics are central to both evolutionary‐ecology and biological responses to anthropogenic change. Natural selection is often thought to incur a demographic cost that, at least temporarily, reduces population growth. However, hard and soft selection clarify that the influence of natural selection on population dynamics depends on ecological context. Under hard selection, an individual's fitness is independent of the population's phenotypic composition, and substantial population declines can occur when phenotypes are mismatched with the environment. In contrast, under soft selection, an individual's fitness is influenced by its phenotype relative to other interacting conspecifics. Soft selection generally influences which, but not how many, individuals survive and reproduce, resulting in little effect on population growth. Despite these important differences, the distinction between hard and soft selection is rarely considered in ecology. Here, we review and synthesize literature on hard and soft selection, explore their ecological causes and implications and highlight their conservation relevance to climate change, inbreeding depression, outbreeding depression and harvest. Overall, these concepts emphasise that natural selection and evolution may often have negligible or counterintuitive effects on population growth—underappreciated outcomes that have major implications in a rapidly changing world. 
    more » « less