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Goldman, Daniel I.

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Author: Goldman, Daniel I. × Start date: 2020 × Item Type: Publication × Has files: Yes × End date: 2022 ×

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Simulation of compound anchor intrusion in dry sand by a hybrid FEM+SPH method

2022-09 , He, Haozhou , Karsai, Andras , Liu, Bangyuan , Hammond III, Frank L. , Goldman, Daniel I. , Arson, Chloé

The intrusion of deformable compound anchors in dry sand is simulated by coupling the Finite Element Method (FEM) with Smoothed Particle Hydrodynamics (SPH). This novel approach can calculate granular flows at lower computational cost than SPH alone. The SPH and FEM domains interact through reaction forces calculated from balance equations and are assigned the same soil constitutive model (Drucker-Prager) and the same constitutive parameters (measured or calibrated). Experimental force-displacement curves are reproduced for penetration depths of 8 mm or more (respectively, 20 mm or more) for spike-shaped (respectively, fan-shaped) anchors with 1 to 6 blades. As the number of blades increases, simulations reveal that the granular flow under the anchor deviates from the vertical and that the horizontal granular flow transitions from orthoradial to radial. We interpret the strain field distribution as the result of soil arching, i.e., the transfer of stress from a yielding mass of soil onto adjoining stationary soil masses. Arching is fully active when the radial distance between blade end points is less than a critical length. In that case, the normal stress that acts on the compound anchor at a given depth reaches the normal stress that acts on a disk-shaped anchor of same radius. A single-blade anchor produces soil deformation and failure similar to Prandtl’s foundation sliding model. Multiblade anchors produce a complex failure mechanism that combines sliding and arching.

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Data for 'Locomotion without force, and impulse via dissipation: Robotic swimming in curved space via geometric phase'

2022 , Li, Shengkai , Wang, Tianyu , Kojouharov, Velin H. , McInerney, James , Aydin, Enes , Aydin, Yasemin O. , Goldman, Daniel I. , Rocklin, D. Zeb

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Comparative study of snake lateral undulation kinematics in model heterogeneous terrain dataset

2020-09-24 , Schiebel, Perrin E. , Hubbard, Alex M. , Goldman, Daniel I.

Terrestrial organisms that use traveling waves to locomote must leverage heterogeneities to overcome drag on the elongate body. While previous studies illuminated how habitat generalist snakes self-deform to use rigid obstacles in the surroundings, control strategies for multi-component terrain are largely unknown. We compared the sand-specialist Chionactis occipitalis to a habitat generalist, Pantherophis guttatus, navigating a model terrestrial terrain-rigid post arrays on a low-friction substrate. We found the waveshapes used by the generalist were more variable than the specialist. Principal component analysis revealed that while the specialized sand-swimming waveform was always present on C. occipitalis, the generalist did not have a similarly pervasive low-dimensional waveshape. We expected the generalist to thus outperform the specialist in the arrays, but body slip of both species was comparable on level ground and in all trials the snakes successfully traversed the arena. When we further challenged the snakes to ascend an inclined lattice, the sand-specialist had difficulty maintaining contact with the obstacles and was unable to progress up the steepest inclines in the largest lattice spacings. Our results suggest that species adapted to different habitats use different control modalities-the specialist is primarily controlling its kinematics to achieve a target shape while, consistent with previous research, the generalist is using force control and self-deforms in response to terrain contacts. While both strategies allowed progress on the uninclined low-friction terrain with posts, the more variable waveshapes of the generalist may be necessary when faced with more challenging locomotor tasks like climbing inclines.

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