Acta Mechanica最新文献

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Large eddy simulation of a turbulent submerged jet interacting with a wave environment 湍流水下射流与波浪环境相互作用的大涡模拟
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-09 DOI: 10.1007/s00707-025-04321-w
D. Maraglino, D. De Padova, M. Mossa, F. Zonta, A. Soldati
{"title":"Large eddy simulation of a turbulent submerged jet interacting with a wave environment","authors":"D. Maraglino,&nbsp;D. De Padova,&nbsp;M. Mossa,&nbsp;F. Zonta,&nbsp;A. Soldati","doi":"10.1007/s00707-025-04321-w","DOIUrl":"10.1007/s00707-025-04321-w","url":null,"abstract":"<div><p>We use numerical simulations to study the interaction between a turbulent jet, discharged vertically from a circular nozzle at the bottom of a horizontal liquid layer of height <span>(h_0=0.35)</span> m, and surface waves. All simulations are run at a fixed value of the jet Reynolds number (<span>( textrm{Re}_{j})</span> = 20,000, based on the nozzle diameter) and for two different values of the surface waves elevation, <span>(H=0.02)</span> m (simulation <i>R</i>1) and <span>(H=0.03)</span> m (simulation <i>R</i>2). A reference simulation, assuming a free surface without waves, is also performed for comparison purposes (simulation <i>R</i>0). We focus on the influence of the surface waves on the jet flow field, considering in particular the behavior of the jet width and of the mean jet velocity—which we analyze applying a phase-averaged technique. Our results show that surface waves induce a reduction of the vertical component of the jet velocity, and a corresponding increase of the horizontal components of the jet velocity. In particular, we observe that the reduction of the centerline mean vertical velocity (along the vertical direction <i>z</i>) is linear in the region close to the jet nozzle, <span>(W_0/W_msim z)</span>, but can be faster than linear (superlinear) in the region close to the liquid surface, for the larger amplitude waves. Correspondingly, the jet width increases linearly with <i>z</i>, <span>(b sim C left( z/d_0 right) )</span>, but at a slope <i>C</i> that does depend on the distance from the liquid surface. These findings suggest that surface waves enhance entrainment and dilution, offering insights for improving jet–wave interaction models and parameterizations.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 5","pages":"3211 - 3229"},"PeriodicalIF":2.3,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s00707-025-04321-w.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143930098","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
In-plane free vibration analysis of an inclined taut cable with a point mass 带点质量斜拉索的面内自由振动分析
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-09 DOI: 10.1007/s00707-025-04305-w
Moritz Patreider, Markus Wenin, Christoph Adam, Thomas Furtmüller
{"title":"In-plane free vibration analysis of an inclined taut cable with a point mass","authors":"Moritz Patreider,&nbsp;Markus Wenin,&nbsp;Christoph Adam,&nbsp;Thomas Furtmüller","doi":"10.1007/s00707-025-04305-w","DOIUrl":"10.1007/s00707-025-04305-w","url":null,"abstract":"<div><p>An analytical theory for predicting the free in-plane vibrations of an inclined taut cable carrying a point mass is presented in this paper. A linearized eigenvalue formulation of the problem is derived. It is based on the nonlinear equations of motion and the quasi-static stretching assumption, which assumes that the dynamic tension is piecewise constant to the left and right of the point mass. By neglecting the equation of motion for the longitudinal vibrations in favor of the constitutive cable equation, the equation governing the lateral vibrations can be solved using its boundary conditions. Two coupled linear equations, whose non-trivial solution gives the natural frequencies of the system, can be constructed from the jump and continuity conditions in the longitudinal direction. The comparison of the results with those of a known Galerkin procedure shows that the analytical theory is sufficiently accurate in the applicable parameter range. These results reproduce the curve-veering and the elastic mode transition phenomena known from previous studies. As such, the theory presented here extends the range of applicability of previous analytical cable theories to include inclined cables with point masses as well.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 5","pages":"3001 - 3020"},"PeriodicalIF":2.3,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s00707-025-04305-w.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143930084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Nonlocal couple stress-based nonlinear flexural instability of laminated FG-GNRC microsize arches under arbitrary-located radial point load and unlike end supports 基于非局部耦合应力的FG-GNRC叠合微尺寸拱在任意位置径向点荷载和不同端支作用下的非线性屈曲失稳
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-09 DOI: 10.1007/s00707-025-04285-x
Saeid Sahmani, Kamila Kotrasova, Muhammad Atif Shahzad, Mona Zareichian, Babak Safaei
{"title":"Nonlocal couple stress-based nonlinear flexural instability of laminated FG-GNRC microsize arches under arbitrary-located radial point load and unlike end supports","authors":"Saeid Sahmani,&nbsp;Kamila Kotrasova,&nbsp;Muhammad Atif Shahzad,&nbsp;Mona Zareichian,&nbsp;Babak Safaei","doi":"10.1007/s00707-025-04285-x","DOIUrl":"10.1007/s00707-025-04285-x","url":null,"abstract":"<div><p>This study presents a numerical investigation into the small scale-dependent nonlinear flexural instability of shallow microsize arches subjected to unlike end supports. The inhomogeneous microsize arches are constructed with a functionally graded graphene nanofiller-reinforced composite (FG-GNRC) under arbitrary-located radial point load combined with thermal conditions. In order to allow for the size dependency, the nonlocality besides the couple stress tensors is comprised within a quasi-2D parabolic shear deformable curved beam formulations. With the aid of the modified Halpin–Tsai model of micromechanics, the material characters of sandwich FG-GNRC are captured. Thenceforward, the extended isogeometric analysis is put to use embracing the insertion with the addition of multiplication of knot to manifest the necessary more depleted continuity for the coupling among the tangential and flexural reactions. It is discovered that the tensor of nonlocal stress results in to enhance the potential energies attributed to all made known condemnatory points, while it causes to decrease the correlated radial point loads. On the contrary, the tensor of couple stress plays a converse role. Withal, it is deduced that the number of condemnatory points remains unchanged after taking the consequence of temperature rise into account. What is more, as a consequence of the temperature rise, the characters of nonlocal and couple stress tensors in the quantities of radial point loads attributed to all made known condemnatory points get intense.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 5","pages":"2821 - 2843"},"PeriodicalIF":2.3,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143930096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Analysis of the dynamic stress response of SH wave propagation in functional gradient materials 功能梯度材料中SH波传播的动应力响应分析
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-07 DOI: 10.1007/s00707-025-04306-9
Qi Lu, Zhen-qing Wang, Yun Zhu, Zai-lin Yang, Yong Yang
{"title":"Analysis of the dynamic stress response of SH wave propagation in functional gradient materials","authors":"Qi Lu,&nbsp;Zhen-qing Wang,&nbsp;Yun Zhu,&nbsp;Zai-lin Yang,&nbsp;Yong Yang","doi":"10.1007/s00707-025-04306-9","DOIUrl":"10.1007/s00707-025-04306-9","url":null,"abstract":"<div><p>In this paper, the analytical solution of the SH wave propagation problems in shear modulus and density continuous nonhomogeneous medium is given based on the complex variable function method, and the scattering problem of SH waves by arbitrarily shaped cavities is studied. The shear modulus is expressed as an arbitrary continuous function, and the displacement field is firstly constructed by introducing the auxiliary function and the shear modulus variation function, and then the density variation function is constructed in a specific form by introducing the auxiliary function and the shear modulus variation function again with the help of the functional gradient material design theory. Through the special variability of medium parameters, the range of SH wave frequencies that can be propagated in the medium is limited, while the displacement fields and the inhomogeneous parameter variation function of the medium are interconnected, and further combined with the Commonality Mapping method to equivalently transform the fluctuation equation of variable coefficients into the Helmholtz equation of standard form. Assuming that the medium shear modulus varies as a natural logarithmic function and the density is composed of an exponential function compounded with a function related to the modulus, the dynamic stress distribution at the boundary of the elliptical hole is calculated and analyzed, taking elliptical hole scattering as an example. The results show that wave number, inhomogeneous parameters, hole boundary size and shape have significant effects on the dynamic stress concentration coefficient.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 5","pages":"3021 - 3034"},"PeriodicalIF":2.3,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s00707-025-04306-9.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
On the bending behavior of nonhomogeneous nanoscale beams under nonlinear hygro-thermo-mechanical loading 非均匀纳米梁在非线性湿热机械载荷下的弯曲行为
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-05 DOI: 10.1007/s00707-025-04293-x
Yassine Boulahbal, Tayeb Bouzid, Belgacem Mamen, Abdelhakim Bouhadra, Abdelaziz Boutrid, Abdelouahed Tounsi, Kouider Halim Benrahou
{"title":"On the bending behavior of nonhomogeneous nanoscale beams under nonlinear hygro-thermo-mechanical loading","authors":"Yassine Boulahbal,&nbsp;Tayeb Bouzid,&nbsp;Belgacem Mamen,&nbsp;Abdelhakim Bouhadra,&nbsp;Abdelaziz Boutrid,&nbsp;Abdelouahed Tounsi,&nbsp;Kouider Halim Benrahou","doi":"10.1007/s00707-025-04293-x","DOIUrl":"10.1007/s00707-025-04293-x","url":null,"abstract":"<div><p>This research study uses an original mathematical model to investigate the bending behavior of nonhomogeneous beams under small-scale and nonlinear hygro-thermo-mechanical loading. The material properties, including Young's modulus, thermal expansion, and moisture concentration coefficients, adhere to a power-law distribution determined by the volume fractions of the constituent materials. The equilibrium equations are obtained using a quasi-3D model and Eringen’s nonlocal theory, applying the principle of virtual work. The interaction between thermo-mechanical and moisture loads is taken into account in Eringen’s nonlocal differential constitutive equations. The developed analytical model and Navier's solving procedure are used to obtain numerical results for non-dimensional stresses and displacements, which are compared with findings from other theoretical approaches. These results provide valuable insights regarding the bending behavior of nonhomogeneous nanoscale structures subjected to intense hygro-thermo-mechanical loading.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 5","pages":"2921 - 2941"},"PeriodicalIF":2.3,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143930031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Enhancement of MITC3+ flat shell element using curvature corrections 利用曲率修正增强MITC3+平壳单元
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-02 DOI: 10.1007/s00707-025-04284-y
Son H. Nguyen, Thuan N.-T. Ho, Qui X. Lieu, Tiendung Vu, Trung Nguyen-Thoi
{"title":"Enhancement of MITC3+ flat shell element using curvature corrections","authors":"Son H. Nguyen,&nbsp;Thuan N.-T. Ho,&nbsp;Qui X. Lieu,&nbsp;Tiendung Vu,&nbsp;Trung Nguyen-Thoi","doi":"10.1007/s00707-025-04284-y","DOIUrl":"10.1007/s00707-025-04284-y","url":null,"abstract":"<div><p>An enhancement of the MITC3+ flat shell element using curvature corrections is proposed. Herein, the corrected curvature field is established through the utilization of corrected nodal derivatives that satisfy the discrete divergence consistency (DCC). The concept of DDC in this study is derived from the orthogonality condition between resultant bending stress (bending moments) and curvature (bending strain) differences within the Hu-Washizu three-field variational principle. In the context of membrane behavior, we employ the Allman-like triangular element with drilling degrees of freedom (DOFs), ensuring both the true rotation of drilling DOFs within elasticity and the effective elimination of spurious energy modes. Through numerical results, the proposed method exhibits exceptional performance in addressing plate and shell structural problems, outperforming the MITC3+. Remarkably, using the constant base demonstrates the highest level of robustness.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 4","pages":"2725 - 2740"},"PeriodicalIF":2.3,"publicationDate":"2025-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143809146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Wave packet propagation through a slab using the telegrapher’s equation 使用电报员方程的波包在平板中的传播
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-01 DOI: 10.1007/s00707-025-04286-w
Marco Nizama, Esteban E. Riquelme, Sergio E. Garrido, Fabian Braschi, Manuel O. Cáceres
{"title":"Wave packet propagation through a slab using the telegrapher’s equation","authors":"Marco Nizama,&nbsp;Esteban E. Riquelme,&nbsp;Sergio E. Garrido,&nbsp;Fabian Braschi,&nbsp;Manuel O. Cáceres","doi":"10.1007/s00707-025-04286-w","DOIUrl":"10.1007/s00707-025-04286-w","url":null,"abstract":"<div><p>We have studied the transmission of a wave packet through finite discontinuous media with dissipation using analytical methods. The focus is on the behavior of an electromagnetic pulse moving from air to a finite conducting slab. The wave equation governs the pulse’s evolution in the free medium, while the telegrapher’s equation is applied in the slab. The presence of the Joule effect in the slab affects the wave packet’s propagation. By solving three discontinuous partial differential equations analytically using Fourier representation and the attenuated spatial wave packet formalism, we derive reflection and transmission coefficients as functions of the telegrapher’s equation parameters. Experimental results for the transmission coefficient varying the absorption energy are presented, utilizing a demineralized water tank with different salt concentrations as the slab. The results are consistent with our theoretical model.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 4","pages":"2691 - 2705"},"PeriodicalIF":2.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143809099","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A natural requirement for objective corotational rates—on structure-preserving corotational rates 对客观旋转速率的自然要求——对保持结构的旋转速率
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-01 DOI: 10.1007/s00707-025-04249-1
Patrizio Neff, Sebastian Holthausen, Sergey N. Korobeynikov, Ionel-Dumitrel Ghiba, Robert J. Martin
{"title":"A natural requirement for objective corotational rates—on structure-preserving corotational rates","authors":"Patrizio Neff,&nbsp;Sebastian Holthausen,&nbsp;Sergey N. Korobeynikov,&nbsp;Ionel-Dumitrel Ghiba,&nbsp;Robert J. Martin","doi":"10.1007/s00707-025-04249-1","DOIUrl":"10.1007/s00707-025-04249-1","url":null,"abstract":"<div><p>We investigate objective corotational rates satisfying an additional, physically plausible assumption. More precisely, we require for </p><div><div><span>$$begin{aligned} frac{textrm{D}^{circ }}{textrm{D}t}[B] = mathbb {A}^{circ }(B).D end{aligned}$$</span></div></div><p>that the characteristic stiffness tensor <span>(mathbb {A}^{circ }(B))</span> is positive-definite. Here, <span>(B = F , F^T)</span> is the left Cauchy–Green tensor, <span>(frac{textrm{D}^{circ }}{textrm{D}t})</span> is a specific objective corotational rate, <span>(D = {{,textrm{sym},}}, D_xi v)</span> is the Eulerian stretching and <span>(mathbb {A}^{circ }(B))</span> is the corresponding induced characteristic fourth-order stiffness tensor. Well-known corotational rates like the Zaremba–Jaumann rate, the Green–Naghdi rate and the logarithmic rate belong to this family of “positive” corotational rates. For general objective corotational rates <span>(frac{textrm{D}^{circ }}{textrm{D}t})</span>, we determine several conditions characterizing positivity. Among them is an explicit condition on the material spin-functions of Xiao, Bruhns and Meyers [84]. We also give a geometrical motivation for invertibility and positivity of <span>( mathbb {A}^{circ }(B))</span> and highlight the structure-preserving properties of corotational rates that distinguish them from more general objective stress rates. Applications of this novel concept are indicated.\u0000</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 4","pages":"2657 - 2689"},"PeriodicalIF":2.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s00707-025-04249-1.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143809110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Thermoelectromechanical coupling of conical dielectric elastomer under polarization saturation 极化饱和条件下锥形介电弹性体的热-机电耦合
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-04-01 DOI: 10.1007/s00707-025-04308-7
Shun Li, Guanghong Miao, Xiangyu Chu, Cheng Yuan, Silu Zhao, Shiqiang Zhu
{"title":"Thermoelectromechanical coupling of conical dielectric elastomer under polarization saturation","authors":"Shun Li,&nbsp;Guanghong Miao,&nbsp;Xiangyu Chu,&nbsp;Cheng Yuan,&nbsp;Silu Zhao,&nbsp;Shiqiang Zhu","doi":"10.1007/s00707-025-04308-7","DOIUrl":"10.1007/s00707-025-04308-7","url":null,"abstract":"<div><p>Under an electric field, three types of polarization occur in dielectric elastomers. The phenomenon of linear polarization has been extensively studied. However, there is still a lack of in-depth studies on other types of polarization and their effects in the temperature field. In this paper, firstly, the constitutive equation of coupling temperature under polarization saturation is established. Secondly, the constitutive equation of coupling temperature and electrostrictive coefficient under polarization saturation is established, and the behavior of dielectric elastomer under polarization saturation is discussed respectively. Numerical analysis of dielectric elastomers shows that temperature and appropriate electrostriction coefficient can improve the stability of dielectric elastomers. It is hoped that this work will guide the development of dielectric elastomer materials and devices for applications operating at variable temperatures.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 4","pages":"2707 - 2724"},"PeriodicalIF":2.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143809111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Neural network-based quasi-static modeling using Cosserat theory and proportional-integral control of ferromagnetic continuum robot 基于Cosserat理论的神经网络准静态建模及比例积分控制的铁磁连续体机器人
IF 2.3 3区 工程技术
Acta Mechanica Pub Date : 2025-03-29 DOI: 10.1007/s00707-025-04304-x
Pouya Mallahi Kolahi, Moharam Habibnejad Korayem
{"title":"Neural network-based quasi-static modeling using Cosserat theory and proportional-integral control of ferromagnetic continuum robot","authors":"Pouya Mallahi Kolahi,&nbsp;Moharam Habibnejad Korayem","doi":"10.1007/s00707-025-04304-x","DOIUrl":"10.1007/s00707-025-04304-x","url":null,"abstract":"<div><p>Ferromagnetic continuum robots, characterized by their remarkable flexibility, offer significant potential for advanced medical applications. However, the nonlinear behavior of these robots requires complex modeling, which incurs high computational costs, and presents significant challenges in developing precise, real-time controllers. Ensuring accuracy and computational efficiency in critical procedures, such as minimally invasive surgery, is challenging, as precise control of the robot is essential. Overcoming these challenges requires innovative modeling and control strategies that leverage the unique properties of these robots while maintaining stability and responsiveness in medical environments. To address these challenges and considering the nature of the system, including its low inertia and slow system behavior, the system is treated as quasi-static. Additionally, an artificial neural network approach is employed for modeling the ferromagnetic continuum robot. The data required for training the neural network are collected using the Cosserat theory. Additionally, considering the quasi-static nature of the system, a proportional-integral controller will be used to control the tip position of the robot. To evaluate the performance of the Cosserat theory for calculating the deformation of the robot and the proposed controller, the results obtained from the simulations of trajectory tracking for various paths are compared with experimental data, showing an acceptable agreement with the experimental results.</p></div>","PeriodicalId":456,"journal":{"name":"Acta Mechanica","volume":"236 4","pages":"2615 - 2630"},"PeriodicalIF":2.3,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143809185","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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