arXiv subjects

Derek E. Moulton

Publications and source records attributed to Derek E. Moulton.

At least 19 recordsLinked to original sources

arXiv2026

Uniaxial poroelastic tendon model with crimped fibre recruitment

Fibre recruitment plays an important role in tendon and other biological soft tissue mechanics. Due to their large water content, a popular modelling approach for tendons is poroelasticity. Within this framework some tendon studies have included fibres, though none have included crimped fibre recruitment. We present a one dimensional poroelastic model in which the solid skeleton is composed of a soft neo-Hookean background matrix and crimped fibrils which do not bear load (FIB model). As the tissue is stretched, fibrils are straightened and contribute to load bearing. The fibre-reinforced tissue is compared to a tissue with a purely neo-Hookean (NH) skeleton in response to a uniaxial constant applied load (loading) and release of the load (unloading). The system dynamics are governed by a diffusion equation where the diffusion coefficient depends on stiffness. Within tendon parameter ranges, the FIB model is softer than the NH model, and so approaches steady state more slowly during loading. The presence of crimped fibrils allows the tendon to stretch further without excessively straining the fibrils or the NCM, providing a natural protection mechanism for the tendon's structural components to load, in agreement with experiments. During unloading, the FIB model is much slower to relax as the tissue softens due to fibril re-crimping. This asymmetry in loading and unloading manifests as a hysteresis loop in the stress-strain curve averaged over the tendon. The hysteresis is reduced with increasing applied load. The inclusion of fibrils allows for clearer biological interpretation and potential comparison to data. While the stress law employed in this study is bespoke for the application at hand by accounting for crimp and fibril recruitment, other fibril constitutive laws can readily be considered and incorporated into this framework.

physics.bio-ph↗

arXiv2025

Uncovering flow and deformation regimes in the coupled fluid-solid vestibular system

In this paper, we showcase how flow obstruction by a deformable object can lead to symmetry breaking in curved domains subject to angular acceleration. Our analysis is motivated by the deflection of the cupula, a soft tissue located in the inner ear that is used to perceive rotational motion as part of the vestibular system. The cupula is understood to block the rotation-induced flow in a toroidal region with the flow-induced deformation of the cupula used by the brain to infer motion. By asymptotically solving the governing equations for this flow, we characterise regimes for which the sensory system is sensitive to either angular velocity or angular acceleration. Moreover, we show the fluid flow is not symmetric in the latter case. Finally, we extend our analysis of symmetry breaking to understand the formation of vortical flow in cavernous regions within channels. We discuss the implications of our results for the sensing of rotation by mammals.

physics.flu-dyn↗

arXiv2025

Cyclic loading of a heterogeneous non-linear poroelastic material

Cyclic loading is a common feature in poroelastic systems, the material response depending non-trivially on the exact form of boundary conditions, pore structure, and mechanical properties. The situation becomes more complex when heterogeneity is introduced in the properties of the poroelastic material, yet heterogeneity too is common in physical poroelastic structures. In this paper, we analyse the behaviour of a soft porous material in response to a uniaxial cyclic stress or displacement, with a focus on understanding how this response is affected by continuous heterogeneity in the stiffness or permeability. Our work is motivated by observed altered material properties of the diseased tendon, but the framework we develop and analyse is generically applicable. We construct a one-dimensional non-linear poroelastic model, assuming Darcy flow through the pores of the solid skeleton which we assume has neo-Hookean elasticity. The system is driven by an applied uniaxial cyclic stress or a uniaxial cyclic displacement at one boundary. Heterogeneity in the stiffness or permeability profile is imposed via a Gaussian bump function. By exploring a range of loading frequencies together with magnitudes and locations of heterogeneity, we characterise the effect of heterogeneity on the response of the material, and show that the response of the system to an applied stress is qualitatively distinct from the response to an applied displacement. Our analysis of this simple model provides a foundation for understanding how heterogeneity affects the poroelastic response to cyclic loading.

cond-mat.soft↗

arXiv2024

Minimal activation with maximal reach: Reachability clouds of bio-inspired slender manipulators

In the field of soft robotics, flexibility, adaptability, and functionality define a new era of robotic systems that can safely deform, reach, and grasp. To optimize the design of soft robotic systems, it is critical to understand their configuration space and full range of motion across a wide variety of design parameters. Here we integrate extreme mechanics and soft robotics to provide quantitative insights into the design of bio-inspired soft slender manipulators using the concept of reachability clouds. For a minimal three-actuator design inspired by the elephant trunk, we establish an efficient and robust reduced-order method to generate reachability clouds of almost half a million points each to visualize the accessible workspace of a wide variety of manipulator designs. We generate an atlas of 256 reachability clouds by systematically varying the key design parameters including the fiber count, revolution, tapering angle, and activation magnitude. Our results demonstrate that reachability clouds not only offer an immediately clear perspective into the inverse problem of control, but also introduce powerful metrics to characterize reachable volumes, unreachable regions, and actuator redundancy to quantify the performance of soft slender robots. Our study provides new insights into the design of soft robotic systems with minimal activation and maximal reach with potential applications in medical robotics, flexible manufacturing, and the autonomous exploration of space.

cs.RO↗

arXiv2024

Minimal design of the elephant trunk as an active filament

One of the key problems in active materials is the control of shape through actuation. A fascinating example of such control is the elephant trunk, a long, muscular, and extremely dexterous organ with multiple vital functions. The elephant trunk is an object of fascination for biologists, physicists, and children alike. Its versatility relies on the intricate interplay of multiple unique physical mechanisms and biological design principles. Here we explore these principles using the theory of active filaments and build, theoretically, computationally, and experimentally, a minimal model that explains and accomplishes some of the spectacular features of the elephant trunk.

cond-mat.soft↗

arXiv2023

Active shape control by plants in dynamic environments

Plants are a paradigm for active shape control in response to stimuli. For instance, it is well-known that a tilted plant will eventually straighten vertically, demonstrating the influence of both an external stimulus, gravity, and an internal stimulus, proprioception. These effects can be modulated when a potted plant is additionally rotated along the plant's axis, as in a rotating clinostat, leading to intricate shapes. We use a morphoelastic model for the response of growing plants to study the joint effect of both stimuli at all rotation speeds. In the absence of rotation, we identify a universal planar shape towards which all shoots eventually converge. With rotation, we demonstrate the existence of a stable family of three-dimensional dynamic equilibria where the plant axis is fixed in space. Further, the effect of axial growth is to induce steady behaviors, such as solitary waves. Overall, this study offers new insight into the complex out-of-equilibrium dynamics of a plant in three dimensions and further establishes that internal stimuli in active materials are key for robust shape control.

physics.bio-ph↗

arXiv2022

Minimal Morphoelastic Models of Solid Tumour Spheroids: A Tutorial

Tumour spheroids have been the focus of a variety of mathematical models, ranging from Greenspan's classical study of the 1970s through to contemporary agent-based models. Of the many factors that regulate spheroid growth, mechanical effects are perhaps some of the least studied, both theoretically and experimentally, though experimental enquiry has established their significance to tumour growth dynamics. In this tutorial, we formulate a hierarchy of mathematical models of increasing complexity to explore the role of mechanics in spheroid growth, all the while seeking to retain desirable simplicity and analytical tractability. Beginning with the theory of morphoelasticity, which combines solid mechanics and growth, we successively refine our assumptions to develop a somewhat minimal model of mechanically regulated spheroid growth that is free from many unphysical and undesirable behaviours. In doing so, we will see how iterating upon simple models can provide rigorous guarantees of emergent behaviour, which are often precluded by existing, more complex modelling approaches. Perhaps surprisingly, we also demonstrate that the final model considered in this tutorial agrees favourably with classical experimental results, highlighting the potential for simple models to provide mechanistic insight whilst also serving as mathematical examples.

q-bio.TO↗

arXiv2020

The role of mechanics in the growth and homeostasis of the intestinal crypt

We present a mechanical model of tissue homeostasis that is specialised to the intestinal crypt. Growth and deformation of the crypt, idealised as a line of cells on a substrate, are modelled using morphoelastic rod theory. Alternating between Lagrangian and Eulerian mechanical descriptions enables us precisely to characterise the dynamic nature of tissue homeostasis, whereby the proliferative structure and morphology are static in the Eulerian frame, but there is active migration of Lagrangian material points out of the crypt. Assuming mechanochemical growth, we identify the necessary conditions for homeostasis, reducing the full, time-dependent system to a static boundary value problem characterising a spatially heterogeneous "treadmilling" state. We extract essential features of crypt homeostasis, such as the morphology, the proliferative structure, the migration velocity, and the sloughing rate. We also derive closed-form solutions for growth and sloughing dynamics in homeostasis, and show that mechanochemical growth is sufficient to generate the observed proliferative structure of the crypt. Key to this is the concept of threshold-dependent mechanical feedback, that regulates an established Wnt signal for biochemical growth. Numerical solutions demonstrate the importance of crypt morphology on homeostatic growth, migration, and sloughing, and highlight the value of this framework as a foundation for studying the role of mechanics in homeostasis.

physics.bio-ph↗

arXiv2020

Post-buckling behaviour of a growing elastic rod

We consider mechanically-induced pattern formation within the framework of a growing, planar, elastic rod attached to an elastic foundation. Through a combination of weakly nonlinear analysis and numerical methods, we identify how the shape and type of buckling (super- or subcritical) depend on material parameters, and a complex phase-space of transition from super-to subcritical is uncovered. We then examine the effect of heterogeneity on buckling and post-buckling behaviour, in the context of a heterogeneous substrate adhesion, elastic stiffness, or growth. We show how the same functional form of heterogeneity in different properties is manifest in a vastly differing post-buckled shape. A form of inverse problem is then considered: whether different functional forms could produce the same shape, and if this could be detected. Finally, a fourth form of heterogeneity, an imperfect foundation, is incorporated and shown to have a more dramatic impact on the buckling instability, a difference that can be qualitatively understood via the weakly nonlinear analysis.

physics.bio-ph↗

arXiv2020

The role of topology and mechanics in uniaxially growing cell networks

In biological systems, the growth of cells, tissues, and organs is influenced by mechanical cues. Locally, cell growth leads to a mechanically heterogeneous environment as cells pull and push their neighbors in a cell network. Despite this local heterogeneity, at the tissue level, the cell network is remarkably robust, as it is not easily perturbed by changes in the mechanical environment or the network connectivity. Through a network model, we relate global tissue structure (i.e. the cell network topology) and local growth mechanisms (growth laws) to the overall tissue response. Within this framework, we investigate the two main mechanical growth laws that have been proposed: stress-driven or strain-driven growth. We show that in order to create a robust and stable tissue environment, networks with predominantly series connections are naturally driven by stress-driven growth, whereas networks with predominantly parallel connections are associated with strain-driven growth.

physics.bio-ph↗

arXiv2019

A computational framework for the morpho-elastic development of molluskan shells by surface and volume growth

Mollusk shells are an ideal model system for understanding the morpho-elastic basis of morphological evolution of invertebrates' exoskeletons. During the formation of the shell, the mantle tissue secretes proteins and minerals that calcify to form a new incremental layer of the exoskeleton. Most of the existing literature on the morphology of mollusks is descriptive. The mathematical understanding of the underlying coupling between pre-existing shell morphology, de novo surface deposition and morpho-elastic volume growth is at a nascent stage, primarily limited to reduced geometric representations. Here, we propose a general, three-dimensional computational framework coupling pre-existing morphology, incremental surface growth by accretion, and morpho-elastic volume growth. We exercise this framework by applying it to explain the stepwise morphogenesis of seashells during growth: new material surfaces are laid down by accretive growth on the mantle whose form is determined by its morpho-elastic growth. Calcification of the newest surfaces extends the shell as well as creates a new scaffold that constrains the next growth step. We study the effects of surface and volumetric growth rates, and of previously deposited shell geometries on the resulting modes of mantle deformation, and therefore of the developing shell's morphology. Connections are made to a range of complex shells ornamentations.

q-bio.QM↗

arXiv2018

Dynamics of viscoelastic snap-through

We study the dynamics of snap-through when viscoelastic effects are present. To gain analytical insight we analyse a modified form of the Mises truss, a single-degree-of-freedom structure, which features an `inverted' shape that snaps to a `natural' shape. Motivated by the anomalously slow snap-through shown by spherical elastic caps, we consider a thought experiment in which the truss is first indented to an inverted state and allowed to relax while a specified displacement is maintained; the constraint of an imposed displacement is then removed. Focussing on the dynamics for the limit in which the timescale of viscous relaxation is much larger than the characteristic elastic timescale, we show that two types of snap-through are possible: the truss either immediately snaps back over the elastic timescale or it displays `pseudo-bistability', in which it undergoes a slow creeping motion before rapidly accelerating. In particular, we demonstrate that accurately determining when pseudo-bistability occurs requires the consideration of inertial effects immediately after the indentation force is removed. Our analysis also explains many basic features of pseudo-bistability that have been observed previously in experiments and numerical simulations; for example, we show that pseudo-bistability occurs in a narrow parameter range at the bifurcation between bistability and monostability, so that the dynamics is naturally susceptible to critical slowing down. We then study an analogous thought experiment performed on a continuous arch, showing that the qualitative features of the snap-through dynamics are well captured by the truss model. In addition, we analyse experimental and numerical data of viscoelastic snap-through times reported in the literature. Combining these approaches suggests that our conclusions may also extend to more complex viscoelastic structures used in morphing applications.

cond-mat.soft↗

arXiv2018

Pull-in dynamics of overdamped microbeams

We study the dynamics of MEMS microbeams undergoing electrostatic pull-in. At DC voltages close to the pull-in voltage, experiments and numerical simulations have reported `bottleneck' behaviour in which the transient dynamics slow down considerably. This slowing down is highly sensitive to external forces, and so has widespread potential for applications that use pull-in time as a sensing mechanism, including high-resolution accelerometers and pressure sensors. Previously, the bottleneck phenomenon has only been understood using lumped mass-spring models that do not account for effects such as variable residual stress and different boundary conditions. We extend these studies to incorporate the beam geometry, developing an asymptotic method to analyse the pull-in dynamics. We attribute bottleneck behaviour to critical slowing down near the pull-in transition, and we obtain a simple expression for the pull-in time in terms of the beam parameters and external damping coefficient. This expression is found to agree well with previous experiments and numerical simulations that incorporate more realistic models of squeeze film damping, and so provides a useful design rule for sensing applications. We also consider the accuracy of a single-mode approximation of the microbeam equations --- an approach that is commonly used to make analytical progress, without systematic investigation of its accuracy. By comparing to our bottleneck analysis, we identify the factors that control the error of this approach, and we demonstrate that this error can indeed be very small.

physics.app-ph↗

arXiv2018

Are homeostatic states stable? Dynamical stability in morphoelasticity

Biological growth is often driven by mechanical cues, such as changes in external pressure or tensile loading. Moreover, it is well known that many living tissues actively maintain a preferred level of mechanical internal stress, called the mechanical homeostasis. The tissue-level feedback mechanism by which changes of the local mechanical stresses affect growth is called a growth law within the theory of morphoelasticity, a theory for understanding the coupling between mechanics and geometry in growing and evolving biological materials. The goal of this article is to develop mathematical techniques to analyze growth laws and to explore issues of heterogeneity and growth stability. We discuss the growth dynamics of tubular structures, which are very common in biology (e.g. arteries, plant stems, airways) and model the homeostasis-driven growth dynamics of tubes which produces spatially inhomogeneous residual stress. We show that the stability of the homeostatic state depends nontrivially on the anisotropy of the growth response. The key role of anisotropy may provide a foundation for experimental testing of homeostasis-driven growth laws.

physics.bio-ph↗

arXiv2017

The shallow shell approach to Pogorelov's problem and the breakdown of `mirror buckling'

We present a detailed asymptotic analysis of the point indentation of an unpressurized, spherical elastic shell. Previous analyses of this classic problem have assumed that for sufficiently large indentation depths, such a shell deforms by `mirror buckling' --- a portion of the shell inverts to become a spherical cap with equal but opposite curvature to the undeformed shell. The energy of deformation is then localized in a ridge in which the deformed and undeformed portions of the shell join together, commonly referred to as Pogorelov's ridge. Rather than using an energy formulation, we revisit this problem from the point of view of the shallow shell equations and perform an asymptotic analysis that exploits the largeness of the indentation depth. This reveals first that the stress profile associated with mirror buckling is singular as the indenter is approached. This consequence of point indentation means that mirror buckling must be modified to incorporate the shell's bending stiffness close to the indenter and gives rise to an intricate asymptotic structure with seven different spatial regions. This is in contrast with the three regions (mirror-buckled, ridge and undeformed) that are usually assumed and yields new insight into the large compressive hoop stress that ultimately causes the shell to buckle azimuthally.

cond-mat.soft↗

arXiv2017

Delayed pull-in transitions in overdamped MEMS devices

We consider the dynamics of overdamped MEMS devices undergoing the pull-in instability. Numerous previous experiments and numerical simulations have shown a significant increase in the pull-in time under DC voltages close to the pull-in voltage. Here the transient dynamics slow down as the device passes through a meta-stable or bottleneck phase, but this slowing down is not well understood quantitatively. Using a lumped parallel-plate model, we perform a detailed analysis of the pull-in dynamics in this regime. We show that the bottleneck phenomenon is a type of critical slowing down arising from the pull-in transition. This allows us to show that the pull-in time obeys an inverse square-root scaling law as the transition is approached; moreover we determine an analytical expression for this pull-in time. We then compare our prediction to a wide range of pull-in time data reported in the literature, showing that the observed slowing down is well captured by our scaling law, which appears to be generic for overdamped pull-in under DC loads. This realization provides a useful design rule with which to tune dynamic response in applications, including state-of-the-art accelerometers and pressure sensors that use pull-in time as a sensing mechanism. We also propose a method to estimate the pull-in voltage based only on data of the pull-in times.

physics.app-ph↗

arXiv2017

Critical slowing down in purely elastic `snap-through' instabilities

Many elastic structures have two possible equilibrium states: from umbrellas that become inverted in a sudden gust of wind, to nano-electromechanical switches, origami patterns and the hopper popper, which jumps after being turned inside-out. These systems typically transition from one state to the other via a rapid `snap-through'. Snap-through allows plants to gradually store elastic energy, before releasing it suddenly to generate rapid motions, as in the Venus flytrap. Similarly, the beak of the hummingbird snaps through to catch insects mid-flight, while technological applications are increasingly exploiting snap-through instabilities. In all of these scenarios, it is the ability to repeatedly generate fast motions that gives snap-through its utility. However, estimates of the speed of snap-through suggest that it should occur more quickly than is usually observed. Here, we study the dynamics of snap-through in detail, showing that, even without dissipation, the dynamics slow down close to the snap-through transition. This is reminiscent of the slowing down observed in critical phenomena, and provides a handheld demonstration of such phenomena, as well as a new tool for tuning dynamic responses in applications of elastic bistability.

cond-mat.soft↗

arXiv2017

Passive control of viscous flow via elastic snap-through

We demonstrate the passive control of viscous flow in a channel by using an elastic arch embedded in the flow. Depending on the fluid flux, the arch may `snap' between two states --- constricting and unconstricting --- that differ in hydraulic conductivity by up to an order of magnitude. We use a combination of experiments at a macroscopic scale and theory to study the constricting and unconstricting states, and determine the critical flux required to transition between them. We show that such a device may be precisely tuned for use in a range of applications, and in particular has potential as a passive microfluidic fuse to prevent excessive fluxes in rigid-walled channels.

cond-mat.soft↗