MMEAW: Modelling the MEchanics of Animal Whiskers

MMEAW是一个多学科的项目，位于结构工程学、机器人学和比较动物生理学之间。它的目的是扩大我们对胡须如何适应其功能的理解和知识，并将这种理解应用于工程应用。MMEAW建立在该领域以前的研究基础上，例如EPSRC资助的Whiskerbot项目(EPSRC编号：GR/S19639/01)。MMEAW的目标如下：1)了解动物如何利用一系列胡须形态参数，如锥度、曲率、扭度、硬度、各向异性和重量，以达到它们的优势。2)确定锥度、扭度、曲率的临界值和它们之间的关系，例如重量与长度的比率(曲度)，这将导致振动力学的质的变化。3)建立合理的振动分类方案。MMEAW包括两个关键活动。首先，通过测量动物胡须的形状和形状，它将建立一个关于胡须形态的详细信息的数据库。与博物馆合作，我们将收集一系列物种的数据-从小型啮齿动物到大型哺乳动物再到鸟类。我们感兴趣的信息包括长度、曲率、锥度、重量、弯曲度(即平面外的曲率)和横截面特性的详细信息，如形状、直径和刚度。我们还想知道每个胡须如何以及在哪里连接到动物的脸上的细节，包括胡须的角度和方向。所有这些信息都将存储在一个数据库中。由于任何地方都没有这样的数据库，它将被提供给世界各地的博物馆，在那里它可以被放大。收集触须数据的过程将持续一年。第二项主要活动涉及建立数学模型，使用收集的触须形状和形状的数据，并应用力学原理来分析胡须尖端受到干扰时会发生什么，例如，当它刷到不同的表面时，被力压入，穿过液体(水獭和海豹)，并经历在某些物种(老鼠)中观察到的“搅拌运动”。MMEAW将使用基于Cosserat杆理论的先进建模方法，即细长结构的严格数学理论。这种方法将使MMEAW能够在一个统一和合理的方案内模拟不同曲率、锥度、曲度等的影响，该方案提供从晶须尖端传递到底部的载荷的详细信息。建模和分析将由一名具有丰富专业经验的小组成员进行实地工作(动物观察)来补充。事实上，MMEAW涉及在弹性杆理论、工程学和动物比较生理学方面拥有良好记录的多学科团队的协作。通过建立一个合适的数学问题，MMEAW将能够确定振动的最佳条件，并将分析扩展到包括极端载荷和变形，从而提供不同振动形态如何影响性能的全球视角。机器人工程师和结构工程师可以利用这些信息来实施灵活机械臂和天线的优化设计，实际上，它可以传递给任何开发涉及细长柔性结构的技术的工程师；无论是机械臂、建筑结构(梁、柱、支柱)、电缆浮标系统、空间系绳或医疗支架。

MMEAW is a multidisciplinary project, lying at the interface between structural engineering, robotics and comparative animal physiology. It aims to extend our understanding and knowledge of how whiskers are adapted to their function and apply that understanding to applications in engineering. MMEAW builds on previous research in this field, for example the EPSRC funded Whiskerbot project (EPSRC ref: GR/S19639/01). The aims of MMEAW are as follows:1) Understanding how animals exploit a range of whisker morphological parameters such as taper, curvature, twist, stiffness, anisotropy and weight, to their advantage.2) Determining critical values of taper, twist, curvature and relationships between them e.g., ratio of weight to length (curliness), which lead to qualitative change in vibrissae mechanics. Thereby identify criteria for optimal performance.3) Establishing a rational scheme for classifying vibrissae.MMEAW involves two key activities. First, by taking measurements of the shape and form of animal whiskers, it will build a data base of detailed information on whisker morphologies. Working with museums, we shall gather data on a range of species - from small rodents, to large mammals and to birds. The information we are interested in includes details of the length, curvature, taper, weight, tortuosity (i.e., out of plane curvature), and cross sectional properties, such as shape, diameter and stiffness. We also want to know details of how and where each whisker connects to the animal's face, including the angle and orientation of the whisker. All that information will be stored in a data base. Since no such data base exists anywhere, it will be made available to museums internationally, where it can be aggrandized. The process of gathering data on vibrissae will last one year.The second major activity involves the formulation of mathematical models, using the data gathered on vibrissae shape and form, and applying mechanics principles to analyse what happens to a whisker when its tip is disturbed e.g., when it brushes against different surfaces, is pressed in by a force, passes through a liquid (otters and seals) and undergoes the 'whisking motions' observed in some species (rats). MMEAW will use advanced modelling methods, based on the Cosserat Theory of rods, i.e., a rigorous mathematical theory of long slender structures. That approach will enable MMEAW to model the effects of different curvatures, tapers, tortuosity etc., within a unified and rational scheme, one that provides detailed information on the loads transmitted from the tip of the whisker to the base. The modelling and analysis will be complemented by field work (observations of animals) carried out by a member of the team with extensive specialist experience. Indeed, MMEAW involves the collaboration of a multidisciplinary team with strong track records in elastic rod theory, engineering and animal comparative physiology.By formulating a well posed mathematical problem, MMEAW will be able to identify optimal conditions for vibrissae and extend the analysis to embrace extreme loadings and deflections, thereby offering a global perspective on how different vibrissae morphologies affect performance. That information can be used by robotics engineers and structural engineers to implement optimal designs for flexible robotic arms and antennae, indeed it carries across to any engineer developing technology that involves long slender flexible structures; whether a robot arm, a building structure (beam, column, strut), a cable buoy system, a space tether, or a medical stent.