arXiv subjects

Giovanni Noselli

Publications and source records attributed to Giovanni Noselli.

16 recordsLinked to original sources

arXiv2026

A three-dimensional morphoelastic model for self-oscillations in polyelectrolyte hydrogel filaments

We introduce a three-dimensional model for polyelectrolyte hydrogel filaments operating in a fluid environment under an electric field. The formulation builds on a morphoelastic framework for inextensible and unshearable rods, such that the filament's activity is encoded in electric-field-induced spontaneous curvatures, while hydrodynamic interactions are captured via a local approximation of Stokes flows. We employ this framework to investigate the prototypical case of a filament with elliptic cross-section clamped at its base. Under a constant and uniform electric field aligned with its axis, the filament undergoes flutter instability beyond a critical field strength, as revealed by a linear stability analysis. Depending on the model parameters, the instability is characterized by either two- or three-dimensional self-sustained oscillations. We further examine this behaviour through numerical simulations in the post-critical regime, showing that flutter may develop into large amplitude planar oscillations or more complex three-dimensional motions, through a secondary bifurcation. Although the study represents a first step towards extending state-of-the-art models for polyelectrolyte hydrogel filaments to three dimensions, the richness of the resulting dynamics achievable under time-independent forcing underscores the potential of the proposed actuation mechanism for the design of biomimetic cilia and soft robotic systems.

cond-mat.soft↗

arXiv2024

Minimal actuation and control of a soft hydrogel swimmer from flutter instability

Micro-organisms propel themselves in viscous environments by the periodic, nonreciprocal beating of slender appendages known as flagella. Active materials have been widely exploited to mimic this form of locomotion. However, the realization of such coordinated beating in biomimetic flagella requires complex actuation modulated in space and time. We prove through experiments on polyelectrolyte hydrogel samples that directed undulatory locomotion of a soft robotic swimmer can be achieved by untethered actuation from a uniform and static electric field. A minimal mathematical model is sufficient to reproduce, and thus explain, the observed behavior. The periodic beating of the swimming hydrogel robot emerges from flutter instability thanks to the interplay between its active and passive reconfigurations in the viscous environment. Interestingly, the flutter-driven soft robot exhibits a form of electrotaxis whereby its swimming trajectory can be controlled by simply reorienting the electric field. Our findings trace the route for the embodiment of mechanical intelligence in soft robotic systems by the exploitation of flutter instability to achieve complex functional responses to simple stimuli. While the experimental study is conducted on millimeter-scale hydrogel swimmers, the design principle we introduce requires simple geometry and is hence amenable for miniaturization via micro-fabrication techniques. We believe it may also be transferred to a wider class of soft active materials.

cond-mat.soft↗

arXiv2024

Elastic bodies with kinematic constraints on many small regions

We study the equilibrium of hyperelastic solids subjected to kinematic constraints on many small regions, which we call perforations. Such constraints on the displacement $u$ are given in the quite general form $u(x) \in F_x$, where $F_x$ is a closed set, and thus comprise confinement conditions, unilateral constraints, controlled displacement conditions, etc., both in the bulk and on the boundary of the body. The regions in which such conditions are active are assumed to be so small that they do not produce an overall rigid constraint, but still large enough so as to produce a non-trivial effect on the behaviour of the body. Mathematically, this is translated in an asymptotic analysis by introducing two small parameters: $\varepsilon$, describing the distance between the elements of the perforation, and $δ$, the size of the element of the perforation. We find the critical scale at which the effect of the perforation is non-trivial and express it in terms of a $Γ$-limit in which the constraints are relaxed so that, in their place, a penalization term appears in the form of an integral of a function $φ(x,u)$. This function is determined by a blow-up procedure close to the perforation and depends on the shape of the perforation, the constraint $F_x$, and the asymptotic behaviour at infinity of the strain energy density $σ$. We give a concise proof of the mathematical result and numerical studies for some simple yet meaningful geometries.

math.AP↗

arXiv2024

Flutter instability in solids and structures, with a view on biomechanics and metamaterials

The phenomenon of oscillatory instability called \lq flutter' was observed in aeroelasticity and rotor dynamics about a century ago. Driven by a series of applications involving nonconservative elasticity theory at different physical scales, ranging from nanomechanics to the mechanics of large space structures and including biomechanical problems of motility and growth, research on flutter is experiencing a new renaissance. A review is presented of the most notable applications and recent advances in fundamentals, both theoretical and experimental aspects, of flutter instability and Hopf bifurcation. Open problems, research gaps, and new perspectives for investigations are indicated.

physics.class-ph↗

arXiv2021

Rods coiling about a rigid constraint: Helices and perversions

Mechanical instabilities can be exploited to design innovative structures, able to change their shape in the presence of external stimuli. In this work, we derive a mathematical model of an elastic beam subjected to an axial force and constrained to smoothly slide along a rigid support, where the distance between the rod midline and the constraint is fixed and finite. Using both theoretical and computational techniques, we characterize the bifurcations of such a mechanical system, in which the axial force and the natural curvature of the beam are used as control parameters. We show that, in the presence of a straight support, the rod can deform into shapes exhibiting helices and perversions, namely transition zones connecting together two helices with opposite chirality. The mathematical predictions of the proposed model are also compared with some experiments, showing a good quantitative agreement. In particular, we find that the buckled configurations may exhibit multiple perversions and we propose a possible explanation for this phenomenon based on the energy landscape of the mechanical system.

cond-mat.soft↗

arXiv2020

Swimming Euglena respond to confinement with a behavioural change enabling effective crawling

Some euglenids, a family of aquatic unicellular organisms, can develop highly concerted, large-amplitude peristaltic body deformations. This remarkable behaviour has been known for centuries. Yet, its function remains controversial, and is even viewed as a functionless ancestral vestige. Here, by examining swimming Euglena gracilis in environments of controlled crowding and geometry, we show that this behaviour is triggered by confinement. Under these conditions, it allows cells to switch from unviable flagellar swimming to a new and highly robust mode of fast crawling, which can deal with extreme geometric confinement and turn both frictional and hydraulic resistance into propulsive forces. To understand how a single cell can control such an adaptable and robust mode of locomotion, we developed a computational model of the motile apparatus of Euglena cells consisting of an active striated cell envelope. Our modelling shows that gait adaptability does not require specific mechanosensitive feedback but instead can be explained by the mechanical self-regulation of an elastic and extended motor system. Our study thus identifies a locomotory function and the operating principles of the adaptable peristaltic body deformation of Euglena cells.

cond-mat.soft↗

arXiv2020

Smart helical structures inspired by the pellicle of euglenids

This paper deals with a concept for a reconfigurable structure bio-inspired by the cell wall architecture of euglenids, a family of unicellular protists, and based on the relative sliding of adjacent strips. Uniform sliding turns a cylinder resulting from the assembly of straight and parallel strips into a cylinder of smaller height and larger radius, in which the strips are deformed into a family of parallel helices. We examine the mechanics of this cylindrical assembly, in which the interlocking strips are allowed to slide freely at their junctions, and compute the external forces (axial force and axial torque at the two ends, or pressure on the lateral surface) necessary to drive and control the shape changes of the composite structure. Despite the simplicity of the structure, we find a remarkably complex mechanical behaviour that can be tuned by the spontaneous curvature or twist of the strips.

cond-mat.soft↗

arXiv2018

Spontaneous morphing of equibiaxially pre-stretched elastic bilayers: the role of sample geometry

An elastic bilayer, consisting of an equibiaxially pre-stretched sheet bonded to a stress-free one, spontaneously morphs into curved shapes in the absence of external loads or constraints. Using experiments and numerical simulations, we explore the role of geometry for square and rectangular samples in determining the equilibrium shape of the system, for a fixed pre-stretch. We classify the observed shapes over a wide range of aspect ratios according to their curvatures and compare measured and computed values, which show good agreement. In particular, as the bilayer becomes thinner, a bifurcation of the principal curvatures occurs, which separates two scaling regimes for the energy of the system. We characterize the transition between these two regimes and show the peculiar features that distinguish square from rectangular samples. The results for our model bilayer system may help explaining morphing in more complex systems made of active materials.

cond-mat.soft↗

arXiv2018

Flutter and divergence instability in the Pfluger column: experimental evidence of the Ziegler destabilization paradox

Flutter instability in elastic structures subject to follower load, the most important cases being the famous Beck's and Pfluger's columns (two elastic rods in a cantilever configuration, with an additional concentrated mass at the end of the rod in the latter case), have attracted, and still attract, a thorough research interest. In this field, the most important issue is the validation of the model itself of follower force, a nonconservative action which was harshly criticized and never realized in practice for structures with diffused elasticity. An experimental setup to introduce follower tangential forces at the end of an elastic rod was designed, realized, validated, and tested, in which the follower action is produced by exploiting Coulomb friction on an element (a freely-rotating wheel) in sliding contact against a flat surface (realized by a conveyor belt). It is therefore shown that follower forces can be realized in practice and the first experimental evidence is given for both the flutter and divergence instabilities occurring in the Pfluger's column. In particular, load thresholds for the two instabilities are measured and the detrimental effect of dissipation on the critical load for flutter is experimentally demonstrated, while a slight increase in load is found for the divergence instability. The presented approach to follower forces discloses new horizons for testing self-oscillating structures and for exploring and documenting dynamic instabilities possible when nonconservative loads are applied.

physics.class-ph↗

arXiv2018

Detecting singular weak-dissipation limit for flutter onset in reversible systems

A `flutter machine' is introduced for the investigation of a singular interface between the classical and reversible Hopf bifurcations that is theoretically predicted to be generic in nonconservative reversible systems with vanishing dissipation. In particular, such a singular interface exists for the Pflüger viscoelastic column moving in a resistive medium, which is proven by means of the perturbation theory of multiple eigenvalues with the Jordan block. The laboratory setup, consisting of a cantilevered viscoelastic rod loaded by a positional force with non-zero curl produced by dry friction, demonstrates high sensitivity of the classical Hopf bifurcation onset {to the ratio between} the weak air drag and Kelvin-Voigt damping in the Pflüger column. Thus, the Whitney umbrella singularity is experimentally confirmed, responsible for discontinuities accompanying dissipation-induced instabilities in a broad range of physical contexts.

physics.class-ph↗

arXiv2017

Concurrent factors determine toughening in the hydraulic fracture of poroelastic composites

Brittle materials fail catastrophically. In consequence of their limited flaw-tolerance, failure occurs by localized fracture and is typically a dynamic process. Recently, experiments on epithelial cell monolayers have revealed that this scenario can be significantly modified when the material susceptible to cracking is adhered to a hydrogel substrate. Thanks to the hydraulic coupling between the brittle layer and the poroelastic substrate, such a composite can develop a toughening mechanism that relies on the simultaneous growth of multiple cracks. Here, we study this remarkable behaviour by means of a detailed model, and explore how the material and loading parameters concur in determining the macroscopic toughness of the system. By extending a previous study, our results show that rapid loading conveys material toughness by promoting distributed cracking. Moreover, our theoretical findings may suggest innovative architectures of flaw-insensitive materials with higher toughness.

cond-mat.soft↗

arXiv2017

The inversion of motion of bristle bots: analytical and experimental analysis

Bristle bots are vibration-driven robots actuated by the motion of an internal oscillating mass. Vibrations are translated into directed locomotion due to the alternating friction resistance between robots' bristles and the substrate during oscillations. Bristle bots are, in general, unidirectional locomotion systems. In this paper we demonstrate that motion direction of vertically vibrated bristle systems can be controlled by tuning the frequency of their oscillatory actuation. We report theoretical and experimental results obtained by studying an equivalent system, consisting of an inactive robot placed on a vertically vibrating substrate.

nlin.CD↗

arXiv2016

Poroelastic toughening in polymer gels: A theoretical and numerical study

We explore the Mode I fracture toughness of a polymer gel containing a semi-infinite, growing crack. First, an expression is derived for the energy release rate within the linearized, small-strain setting. This expression reveals a crack tip velocity-independent toughening that stems from the poroelastic nature of polymer gels. Then, we establish a poroelastic cohesive zone model that allows us to describe the micromechanics of fracture in gels by identifying the role of solvent pressure in promoting poroelastic toughening. We evaluate the enhancement in the effective fracture toughness through asymptotic analysis. We confirm our theoretical findings by means of numerical simulations concerning the case of a steadily propagating crack. In broad terms, our results explain the role of poroelasticity and of the processes occurring in the fracturing region in promoting toughening of polymer gels.

cond-mat.soft↗

arXiv2016

Liquid Crystal Elastomer Strips as Soft Crawlers

In this paper, we speculate on a possible application of Liquid Crystal Elastomers to the field of soft robotics. In particular, we study a concept for limbless locomotion that is amenable to miniaturisation. For this purpose, we formulate and solve the evolution equations for a strip of nematic elastomer, subject to directional frictional interactions with a flat solid substrate, and cyclically actuated by a spatially uniform, time-periodic stimulus (e.g., temperature change). The presence of frictional forces that are sensitive to the direction of sliding transforms reciprocal, 'breathing-like' deformations into directed forward motion. We derive formulas quantifying this motion in the case of distributed friction, by solving a differential inclusion for the displacement field. The simpler case of concentrated frictional interactions at the two ends of the strip is also solved, in order to provide a benchmark to compare the continuously distributed case with a finite-dimensional benchmark. We also provide explicit formulas for the axial force along the crawler body.

cond-mat.soft↗

arXiv2014

A robotic crawler exploiting directional frictional interactions: experiments, numerics, and derivation of a reduced model

We present experimental and numerical results for a model crawler which is able to extract net positional changes from reciprocal shape changes, i.e. 'breathing-like' deformations, thanks to directional, frictional interactions with a textured solid substrate, mediated by flexible inclined feet. We also present a simple reduced model that captures the essential features of the kinematics and energetics of the gait, and compare its predictions with the results from experiments and from numerical simulations.

cond-mat.soft↗

arXiv2014

Crawling on directional surfaces

In this paper we study crawling locomotion based on directional frictional interactions, namely, frictional forces that are sensitive to the sign of the sliding velocity. Surface interactions of this type are common in biology, where they arise from the presence of inclined hairs or scales at the crawler/substrate interface, leading to low resistance when sliding 'along the grain', and high resistance when sliding 'against the grain'. This asymmetry can be exploited for locomotion, in a way analogous to what is done in cross-country skiing (classic style, diagonal stride). We focus on a model system, namely, a continuous one-dimensional crawler and provide a detailed study of the motion resulting from several strategies of shape change. In particular, we provide explicit formulae for the displacements attainable with reciprocal extensions and contractions (breathing), or through the propagation of extension or contraction waves. We believe that our results will prove particularly helpful for the study of biological crawling motility and for the design of bio-mimetic crawling robots.

math-ph↗