arXiv subjects

Paolo Celli

Publications and source records attributed to Paolo Celli.

At least 19 recordsLinked to original sources

arXiv2026

Interdisciplinary Workshop on Mechanical Intelligence: Summary Report

This report provides a summary of the outcomes of the Interdisciplinary Workshop on Mechanical Intelligence held in 2024. Mechanical Intelligence (MI) represents the phenomenon that novel structural features of material/biological/robotic systems can encode intelligence through responsiveness, adaptivity, memory, and learning in the mechanical structure itself. This is in contrast to computational intelligence, wherein the intelligence functions occur through electrical signaling and computer code. The two-day workshop was held at NSF headquarters on May 30-31 and included 38 invited academic researcher participants, and 8 program officers from the NSF. The workshop was structured around active small and large group discussions in groups of 4-5 and 9-10 with the goal of addressing topical questions on MI. Working groups entered notes into shared presentation slides for each discussion session and presented their outcomes in a final presentation on the last day. Here we summarize the overall outcomes of the workshop.

cs.RO↗

arXiv2026

Mechanism-based metamaterials with microstructurally invariant shape-change

Metamaterials with floppy modes called mechanisms are a burgeoning template for shape-morphing systems and structures across scales. Here, we present a design recipe that transforms an arbitrary plane tiling into a 2D kirigami pattern with a single degree-of-freedom mechanism motion, greatly expanding the known library of mechanism-based designs. We reveal that these kirigami patterns, when deformed along their mechanism, have a bulk shape change invariant to the underlying microstructure of the pattern. Experimental observations confirm this unusual kinematic prediction in illustrative classes of designs. We also exploit this invariance to elicit different elastic responses in patterns with identical bulk shape change. Finally, we discuss generalizations to compact and non-planar kirigami, as well as 3D metamaterials, highlighting the broad applicability of our new approach to design.

cond-mat.soft↗

arXiv2024

Shape-retaining beam-like morphing structures via localized snap through

In this study, we present a concept of morphing structure -- featuring an arch mounted on a compliant base -- that can be reconfigured via snap-through buckling and leverages bistability to retain its morphed shape. We show that one-dimensional arrays of such units yield beam-like structures that, upon localized snapping, can attain multiple, morphologically distinct stable shapes. Units are modeled using discrete elastic rods, a reduced-order formulation for beams and beam structures, and the results are validated via experiments. We leverage our model to understand the influence of the geometrical design parameters on the response and final shape of a unit. We then show that the morphed shapes of arrays of units can be predicted by concatenating results of simulations on single units, and leverage this idea to inverse-design structures that can be snapped into target stable shapes. Ultimately, our work suggests an up-scalable way to create shape-retaining morphing structures with target stable shapes.

physics.app-ph↗

arXiv2024

Programming bistability in geometrically perturbed mechanical metamaterials

Mechanical metamaterials capable of large deformations are an emerging platform for functional devices and structures across scales. Bistable designs are particularly attractive since they endow a single object with two configurations that display distinct shapes, properties and functionalities. We propose a strategy that takes a common (non-bistable) metamaterial design and transforms it into a bistable one, specifically, by allowing for irregular patterns through geometric perturbations of the unit cell and by leveraging the intercell constraints inherent to the large deformation response of metamaterials. We exemplify this strategy by producing a design framework for bistable planar kirigami metamaterials starting from the canonical rotating-squares pattern. The framework comprises explicit design formulas for cell-based kirigami with unprecedented control over the shape of the two stable states, and an optimization methodology that allows for efficient tailoring of the geometric features of the designs to achieve target elastic properties as well as shape change. The versatility of this framework is illustrated through a wide variety of examples, including non-periodic designs that achieve two arbitrarily-shaped stable states. Quantitative and qualitative experiments, featuring prototypes with distinct engineering design details, complement the theory and shine light on the strengths and limitations of our design approach. These results show how to design bistable metamaterials from non-bistable templates, paving the way for further discovery of bistable systems and structures that are not simply arrangements of known bistable units.

cond-mat.soft↗

arXiv2024

Tailoring asymmetry for anisotropic friction in kirigami metamaterial skins with pop-up folding hinges

Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami skins with folding hinges in this same context. These recently-introduced kirigami feature counter-rotating panels connected by pop-up folding hinges. So far, researchers have only explored auxetic and highly-symmetric versions of such patterns. Yet, some of these attributes have to be relaxed in order to explore their full potential as robotic skins. Thus, we parameterize these patterns and relax symmetry constraints, with the goal of using this same platform to obtain a wide range of shape-morphing behaviors. We derive kinematic formulas to explore the vast symmetry-enabled design space. We then use numerical simulations and experiments to validate the kinematic predictions and to explore the morphing mechanics of tubular skins. Finally, via experiments, we provide preliminary evidence of the anisotropic friction enabled by patterns with asymmetric pop-ups. We therefore demonstrate that it is possible to tailor parameters in kirigami with folding hinges to obtain skins that globally expand or contract due to axial elongation, and that present asymmetric pop-ups that yield anisotropic friction -- the most desired attribute for one-way locomotion of soft robots.

cond-mat.soft↗

arXiv2024

Time-modulated inerters as building blocks for nonreciprocal mechanical devices

In this work, we discuss the realization of mechanical devices with non-reciprocal attributes enabled by inertia-amplifying, time-modulated mechanisms. Our fundamental building-block features a mass, connected to a fixed ground through a spring and to a moving base through a mechanism-based inerter. Through analytical derivations and numerical simulations, we provide details on the nonlinear dynamics of such system. We demonstrate that providing a time modulation to the inerter's base produces two additions on the dynamics of the main spring-mass oscillator: i) an effective time-modulated mass term, and ii) a time varying force term; both quantities are functions of the modulating frequency. With specific choices of parameters, the modulation-induced force term -- that represents one of the main drawbacks in most experimental realizations of purely time-modulated systems -- vanishes and we are left with an effective time-varying mass. We then illustrate that this building block can be leveraged to realize non-reciprocal wave manipulation devices, and concentrate on a non-reciprocal beam-like waveguide. The simple design and the clean performance of our system makes it an attractive candidate for the realization of fully mechanical non-reciprocal devices.

physics.class-ph↗

arXiv2024

Sparse metapiles for shear wave attenuation in half-spaces

We show that shear waves traveling towards the surface of a half-space medium can be attenuated via buried one-dimensional arrays of resonators -- here called metapiles -- arranged according to sparse patterns around a site to be isolated. Our focus is on shear waves approaching the surface along a direction perpendicular to the surface itself. First, we illustrate the behavior of metapiles, both experimentally and numerically, using 3D printed resonators embedded in an acrylic plate. Then, via numerical simulations, we extend this idea to the case study of an idealized soil half-space, and elucidate the influence of various design parameters on wave attenuation. Results of this work demonstrate that significant wave attenuation can be achieved by installing sparse resonating piles around a selected site on the free surface of the medium, rather than placing resonators directly underneath that same site. This work might have implications in metamaterial-based wave attenuation applications across scales.

physics.app-ph↗

arXiv2023

Experimental Evidence of Amplitude-Dependent Surface Wave Dispersion via Nonlinear Contact Resonances

In this letter, we provide an experimental demonstration of amplitude-dependent dispersion tuning of surface acoustic waves interacting with nonlinear resonators. Leveraging the similarity between the dispersion properties of plate edge waves and surface waves propagating in a semi-infinite medium, we use a setup consisting of a plate with a periodic arrangement of bead-magnet resonators along one of its edges. Nonlinear contact between the ferromagnetic beads and magnets is exploited to realize nonlinear local resonance effects. First, we experimentally demonstrate the nonlinear softening nature and amplitude-dependent dynamics of a single bead-magnet resonator on both rigid and compliant substrates. Next, the dispersion properties of the system in the linear regime are investigated. Finally, we demonstrate how the interplay of nonlinear local resonances with plate edge waves gives rise to amplitude-dependent dispersion properties. The findings will inform the design of more versatile surface acoustic wave devices that can passively adapt to loading conditions.

physics.app-ph↗

arXiv2023

Modelling planar kirigami metamaterials as generalized elastic continua

Kirigami metamaterials dramatically change their shape through a coordinated motion of nearly rigid panels and flexible slits. Here, we study a model system for mechanism-based planar kirigami featuring periodic patterns of quadrilateral panels and rhombi slits, with the goal of predicting their engineering scale response to a broad range of loads. We develop a generalized continuum model based on the kirigami's effective (cell-averaged) nonlinear deformation, along with its slit actuation and gradients thereof. The model accounts for three sources of elasticity: a strong preference for the effective fields to match those of a local mechanism, inter-panel stresses arising from gradients in slit actuation, and distributed hinge bending. We provide a finite-element formulation of this model and implement it using the commercial software Abaqus. Simulations of the model agree quantitatively with experiments across designs and loading conditions.

cond-mat.soft↗

arXiv2022

Capacitive temperature sensing via displacement amplification

We propose the realization of capacitive temperature sensors based on the concept of displacement amplification. Our design features two high coefficient of thermal expansion (CTE) metallic layers separated by a low-CTE dielectric layer; conductive and dielectric layers are then separated by a thin air gap and glued together at a few locations. As the temperature increases, the high-CTE layer tends to expand more than the low-CTE one. Owing to the constraint to planar expansion imposed by the low-CTE layer, this results in large out-of-plane displacements of the high-CTE layer -- hence the displacement amplification term. In our case, the high-CTE layer buckles and causes a reduction of the gap between conductive and dielectric layers; in turn, this results in a large change of capacitance. First, we illustrate the concept via numerical simulations. Then, we realize a low-cost prototype of such sensor by using aluminum foil as conductor, paper as dielectric, and by gluing the layers together with cyanoacrylate. Our results demonstrate the potential of this simple design as a route towards efficient and low-cost temperature sensors.

physics.app-ph↗

arXiv2022

The detection matrix as a model-agnostic tool to estimate the number of degrees of freedom in mechanical systems and engineering structures

Estimating the number of degrees of freedom of a mechanical system or an engineering structure from the time-series of a small set of sensors is a basic problem in diagnostics, which, however, is often overlooked when monitoring their health and integrity. In this work, we demonstrate the applicability of the network-theoretic concept of detection matrix as a tool to solve this problem. From this estimation, we illustrate the possibility to identify damage. The detection matrix, recently introduced by Haehne et al. in the context of network theory, is assembled from the transient response of a few nodes as a result of non-zero initial conditions: its rank offers an estimate of the number of nodes in the network itself. The use of the detection matrix is completely model-agnostic, whereby it does not require any knowledge of the system dynamics. Here, we show that, with a few modifications, this same principle applies to discrete systems, such as spring-mass lattices and trusses. Moreover, we discuss how damage in one or more members causes the appearance of distinct jumps in the singular values of this matrix, thereby opening the door to structural health monitoring applications, without the need for a complete model reconstruction.

physics.data-an↗

arXiv2022

Continuum field theory for the deformations of planar kirigami

Mechanical metamaterials exhibit exotic properties at the system level, that emerge from the interactions of many nearly rigid building blocks. Determining these emergent properties theoretically has remained an open challenge outside of a few select examples. Here, for a large class of periodic and planar kirigami, we provide a coarse-graining rule linking the design of the panels and slits to the kirigami's macroscale deformations. The procedure gives a system of nonlinear partial differential equations (PDE) expressing geometric compatibility of angle functions related to the motion of individual slits. Leveraging known solutions of the PDE, we present excellent agreement between simulations and experiments across kirigami designs. The results reveal a surprising nonlinear wave-type response persisting even at large boundary loads, the existence of which is determined completely by the Poisson's ratio of the unit cell.

cond-mat.soft↗

arXiv2021

Effective continuum models for the buckling of non-periodic architected sheets that display quasi-mechanism behaviors

In this work, we construct an effective continuum model for architected sheets that are composed of bulky tiles connected by slender elastic joints. Due to their mesostructure, these sheets feature quasi-mechanisms -- low-energy local kinematic modes that are strongly favored over other deformations. In sheets with non-uniform mesostructure, kinematic incompatibilities arise between neighboring regions, causing out-of-plane buckling. The effective continuum model is based on a geometric analysis of the sheets' unit cells and their energetically favorable modes of deformation. Its major feature is the construction of a strain energy that penalizes deviations from these preferred modes of deformation. The effect of non-periodicity is entirely described through the use of spatially varying geometric parameters in the model. Our simulations capture the out-of-plane buckling that occurs in non-periodic specimens and show good agreement with experiments. While we only consider one class of quasi-mechanisms, our modeling approach could be applied to a diverse set of shape-morphing systems that are of interest to the mechanics community.

cond-mat.mtrl-sci↗

arXiv2021

Tuning acoustic impedance in load-bearing structures

Acoustic transparency is the capability of a medium to transmit mechanical waves to adjacent media, without scattering. This characteristic can be achieved by carefully engineering the acoustic impedance of the medium -- a combination of wave speed and density, to match that of the surroundings. Owing to the strong correlation between acoustic wave speed and static stiffness, it is challenging to design acoustically transparent materials in a fluid, while maintaining their high structural rigidity. In this work, we propose a method to design architected lattices with independent control of the elastic wave speed at a chosen frequency, the mass density, and the static stiffness, along a chosen loading direction. We provide a sensitivity analysis to optimize these properties with respect to design parameters of the structure, that include localized masses at specific positions. We demonstrate the method on five different periodic, three dimensional lattices, to calculate bounds on the longitudinal wave speed as a function of their density and stiffness. We then perform experiments on 3-D printed structures, to validate our numerical simulations. The tools developed in this work can be used to design lightweight and stiff materials with optimized acoustic impedance for a plethora of applications, including ultrasound imaging, wave filtering and waveguiding.

physics.app-ph↗

arXiv2021

Prestrain-induced bandgap tuning in 3D-printed tensegrity-inspired lattice structures

In this letter, we provide experimental evidence of bandgap tunability with global prestrain in additively-manufactured tensegrity-inspired lattice structures. These lattices are extremely lightweight and designed to exhibit a nonlinear compressive response that mimics that of a tensegrity structure. We fabricate them out of a stiff polymer but, owing to their peculiar design, they are compliant and remain elastic up to high levels of precompression. In turn, unlike tunable metamaterials made of soft polymers, the response of our lattices is not dominated by damping. We perform experiments on a one-dimensional lattice subject to longitudinal wave excitation and varying levels of static longitudinal precompression, and observe continuous tuning of both the wave speed and the location and width of the lowest-frequency bandgap.

cond-mat.mtrl-sci↗

arXiv2020

Surface wave non-reciprocity via time-modulated metamaterials

We investigate how Rayleigh waves interact with modulated resonators located on the free surface of a semi-infinite elastic medium. We begin by studying the dynamics of a single resonator with time-modulated stiffness. In particular, we evaluate the accuracy of an analytical approximation of the resonator response and identify the parameter ranges in which its behavior remains stable. Then, we develop an analytical model to describe the interaction between surface waves and an array of resonators with spatio-temporally modulated stiffness. By combining our analytical models with full-scale numerical simulations, we demonstrate that spatio-temporal stiffness modulation of this elastic metasurface leads to the emergence of non-reciprocal features in the Rayleigh wave spectrum. Specifically, we show how the frequency content of a propagating signal can be filtered and converted when traveling through the modulated medium, and illustrate how surface-to-bulk wave conversion plays a role in these phenomena. Throughout this article, we indicate bounds of modulation parameters for which our theory is reliable, thus providing guidelines for future experimental studies on the topic.

physics.app-ph↗

arXiv2020

Compliant morphing structures from twisted bulk metallic glass ribbons

In this work, we investigate the use of pre-twisted metallic ribbons as building blocks for shape-changing structures. We manufacture these elements by twisting initially flat ribbons about their (lengthwise) centroidal axis into a helicoidal geometry, then thermoforming them to make this configuration a stress-free reference state. The helicoidal shape allows the ribbon to have preferred bending directions that vary throughout its length. These bending directions serve as compliant joints and enable several deployed and stowed configurations that are unachievable without pre-twist, provided that compaction does not induce material failure. We fabricate these ribbons using a bulk metallic glass (BMG), for its exceptional elasticity and thermoforming attributes. Combining numerical simulations, an analytical model based on shell theory and torsional experiments, we analyze the finite-twisting mechanics of various ribbon geometries. We find that, in ribbons with undulated edges, the twisting deformations can be better localized onto desired regions prior to thermoforming. Finally, we join together multiple ribbons to create deployable systems. Our work proposes a framework for creating fully metallic, yet compliant structures that may find application as elements for space structures and compliant robots.

cond-mat.mtrl-sci↗

arXiv2020

Systematic two-scale image analysis of extreme deformations in soft architectured sheets

The multi-scale nature of architectured materials raises the need for advanced experimental methods suitable for the identification of their effective properties, especially when their size is finite and they undergo extreme deformations. The present work demonstrates that state-of-the art image processing methods combined with numerical and analytical models provide a comprehensive quantitative description of these solids and their global behaviour, including the influence of the boundary conditions, of the manufacturing process, and of geometric and constitutive non-linearities. To this end, an adapted multi-scale digital image correlation analysis is used to track both elongations and rotations of particular features of the unit cell at the local and global (homogenized) scale of the material. This permits to observe with unprecedented clarity the strains for various unit cells in the structure and to detect global deformation patterns and heterogeneities of the homogenized strain distribution. This method is here demonstrated on elastic sheets undergoing extreme longitudinal and shear deformations. These experimental results are compared to non-linear finite element simulations, which are also used to evaluate the effects of manufacturing imperfections on the response. A skeletal representation of the architectured solid is then extracted from the experiments and used to create a purely-kinematic truss-hinge model that can accurately capture its behaviour. The analysis proposed in this work can be extended to guide the design of two-dimensional architectured solids featuring other regular, quasi-regular or graded patterns, and subjected to other types of loads.

physics.app-ph↗