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Paths in the special Euclidean algebra and rod shapes

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Giulio G. Giusteri

Mathematical Soft Matter Unit (Prof. Fried)

NCTS, January 13, 2017

Presentation Venue / Date & Time

Xxxxxxxxxxxxxxxxxxxxx

(2)

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Outline

1 Special Cosserat rods

What is the role of the special Euclidean algebra?

When are Lie algebraic objects essential?

2 Framed curves

What is their relation with rods?

How can we represent their shape?

3 Discrete rods

How can we discretize the rod shape?

When is such a discretization effective?

Shape: A collection of properties invariant under rigid motions.

(3)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . .

(4)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . .

(5)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . . or a rod?

(6)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . . or a rod?

Shape: How it is traced, not where it goes.

(7)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . . or a rod?

Common features:

Rigid bodies are involved.

Described by a family of special Euclidean transformations.

Differences:

The rigid-body motion is parametrized by time, the placement of cross-section by some s.

When a single body moves, it can pass many times through the same region. Cross-sections cannot penetrate one another.

Also, although the motion of each cross-section of a rod is a rigid-body motion, a rod is deformable as a whole.

(8)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . . or a rod?

Common features:

Rigid bodies are involved.

Described by a family of special Euclidean transformations.

Differences:

The rigid-body motion is parametrized by time, the placement of cross-section by some s.

When a single body moves, it can pass many times through the same region. Cross-sections cannot penetrate one another.

Also, although the motion of each cross-section of a rod is a rigid-body motion, a rod is deformable as a whole.

(9)

The special Euclidean group

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A rigid-body motion . . . or a rod?

Common features:

Rigid bodies are involved.

Described by a family of special Euclidean transformations.

Differences:

The rigid-body motion is parametrized by time, the placement of cross-section by some s.

When a single body moves, it can pass many times through the same region. Cross-sections cannot penetrate one another.

Also, although the motion of each cross-section of a rod is a rigid-body motion, a rod is deformable as a whole.

(10)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Turning the shape into a differential equation









x0(s) = v3(s)d3(s) + v1(s)d1(s) + v2(s)d2(s) , d03(s) = u2(s)d1(s) − u1(s)d2(s) ,

d01(s) = −u2(s)d3(s) + u3(s)d2(s) , d02(s) = u1(s)d3(s) − u3(s)d1(s) ,

(11)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Turning the shape into a differential equation









x0(s) = v3(s)d3(s) + v1(s)d1(s) + v2(s)d2(s) , d03(s) = u2(s)d1(s) − u1(s)d2(s) ,

d01(s) = −u2(s)d3(s) + u3(s)d2(s) , d02(s) = u1(s)d3(s) − u3(s)d1(s) ,

(12)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Turning the shape into a differential equation

If we now define the vector field R : [0, sf] → R12 by R := (x , d3, d1, d2) and the linear operator (O and I are 3 × 3 null and identity matrix)

L(s) :=

O v3(s)I v1(s)I v2(s)I O O u2(s)I −u1(s)I O −u2(s)I O u3(s)I O u1(s)I −u3(s)I O

 ,

it is possible to rewrite our equation as R0 = LR .

Given the conditions R0 at s = 0 a unique solution exists and can be formally written as

R(s) = U(s; 0)R0,

where the operator U(s1; s0) represents the propagator of the solution from the point s0 to s1.

(13)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Rod: UR

0

is where it goes, L is how it is traced

The equation is encoded in L, which describes a possibly discontinuous path on the manifold of matrices generated by

V1 =

0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0

V2 =

0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0

V3 =

0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0

U1=

0 0 0 0

0 0 0 −1

0 0 0 0

0 1 0 0

U2=

0 0 0 0

0 0 1 0

0 −1 0 0

0 0 0 0

U3 =

0 0 0 0

0 0 0 0

0 0 0 1

0 0 −1 0

The solution is encoded in R, which represents a path in R12 starting at R0. The tracing of this path can be identified with the path described by the operators U(s; 0), upon varying the parameter s, in their manifold.

(14)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape description and shape energy

The matrix manifold in which the operators L(s) live is a representation of the special Euclidean algebra.

The shape of the filament is fully encoded in the path traced by L. The appearance of the filament in the ambient space is fully encoded in R (and in the shape of the cross-sections), and can be drawn by applying U(s; 0) to the starting point R0.

Any expression for the elastic energy of the filament that only depends on shape must depend on the components of L and not on R0 or any other derived quantity.

(15)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape description and shape energy

The matrix manifold in which the operators L(s) live is a representation of the special Euclidean algebra.

The shape of the filament is fully encoded in the path traced by L.

The appearance of the filament in the ambient space is fully encoded in R (and in the shape of the cross-sections), and can be drawn by applying U(s; 0) to the starting point R0.

Any expression for the elastic energy of the filament that only depends on shape must depend on the components of L and not on R0 or any other derived quantity.

(16)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape description and shape energy

The matrix manifold in which the operators L(s) live is a representation of the special Euclidean algebra.

The shape of the filament is fully encoded in the path traced by L.

The appearance of the filament in the ambient space is fully encoded in R (and in the shape of the cross-sections), and can be drawn by applying U(s; 0) to the starting point R0.

Any expression for the elastic energy of the filament that only depends on shape must depend on the components of L and not on R0 or any other derived quantity.

(17)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape description and shape energy

The matrix manifold in which the operators L(s) live is a representation of the special Euclidean algebra.

The shape of the filament is fully encoded in the path traced by L.

The appearance of the filament in the ambient space is fully encoded in R (and in the shape of the cross-sections), and can be drawn by applying U(s; 0) to the starting point R0.

Any expression for the elastic energy of the filament that only depends on shape must depend on the components of L and not on R0 or any other derived quantity.

(18)

The special Euclidean algebra

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

The stored elastic energy

Any expression for the elastic energy of the filament that only depends on shape must depend on the components of L and not on R0 or any other derived quantity.

Expressed in terms of Lie algebraic quantities:

Z sf 0

ϕ s, u1(s), u2(s), u3(s), v1(s), v2(s), v3(s) ds.

Quadratic case: L2-norm → piecewise constant finite elements.

(19)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Degenerate cross-sections

Shearing and twisting loose their meaning: we set v1 = v2 = 0 and u3 = 0.

Inextensibility can be imposed by setting v3= 1.









x0(s) = d3(s) ,

d03(s) = u2(s)d1(s) − u1(s)d2(s) , d01(s) = −u2(s)d3(s) ,

d02(s) = u1(s)d3(s) ,

We obtain the curve and a relatively parallel adapted frame (Bishop). The relevant Lie algebra remains the same.

(20)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Degenerate cross-sections

Shearing and twisting loose their meaning: we set v1 = v2 = 0 and u3 = 0.

Inextensibility can be imposed by setting v3= 1.









x0(s) = d3(s) ,

d03(s) = u2(s)d1(s) − u1(s)d2(s) , d01(s) = −u2(s)d3(s) ,

d02(s) = u1(s)d3(s) ,

We obtain the curve and a relatively parallel adapted frame (Bishop).

The relevant Lie algebra remains the same.

(21)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

The inverse problem

t = x0 and t0= x00. If we now consider the integral equations

d1(s) = d1(0) − Z s

0

u2(r )t(r ) dr , d2(s) = d2(0) +

Z s 0

u1(r )t(r ) dr ,

and take the scalar product with t0 = u2d1− u1d2, we obtain u2(s) = d1(0) · t0(s) −

Z s 0

u2(r )t(r ) · t0(s) dr , u1(s) = d2(0) · t0(s) +

Z s 0

u1(r )t(r ) · t0(s) dr . These are Volterra equations of the second kind and admit a unique solution on the interval [0, sf].

(22)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

A simple comparison

(23)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Geometric invariants

Two degrees of freedom: we can picture the shapes of framed curves by means of the normal development.

We introduce the Hasimoto transformation

κ(s)ei θ(s) = u2(s) + iu1(s)

and the geometric invariants are the square-integrable curvature κ and the measure-valued torsion τ = θ0.

(24)

Framed curves

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Geometric invariants

Two degrees of freedom: we can picture the shapes of framed curves by means of the normal development.

We introduce the Hasimoto transformation

κ(s)ei θ(s)= u2(s) + iu1(s)

and the geometric invariants are the square-integrable curvature κ and the measure-valued torsion τ = θ0.

(25)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Kirchhoff rods

For Kirchhoff rods, we assume unshearability and inextensibility:

v1 = v2= 0 and v3 = 1 . By substituting the identifications

d3 = t , u1 = −κ2, u2 = κ1, and u3= ω we find









x0(s) = t(s) ,

t0(s) = κ1(s)d1(s) + κ2(s)d2(s) , d01(s) = −κ1(s)t(s) + ω(s)d2(s) , d02(s) = −κ2(s)t(s) − ω(s)d1(s) . A quadratic shape energy is

1 2

Z sf

0

a1κ22(s) + a2κ21(s) + a3ω2(s) ds.

(26)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Twist is not Torsion

(27)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation of closed rods

(28)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation of closed rods

(29)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation with anisotropic bending stiffness

(30)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation with anisotropic bending stiffness

(31)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation with anisotropic bending stiffness

(32)

Discrete rods

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Shape relaxation with anisotropic bending stiffness

(33)

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Conclusions

1 Special Cosserat rods

The shape is a path in the special Euclidean algebra

The coordinate fields of this path determine the elastic energy The shape energy should not depend on the torsion of the base curve

2 Framed curves

Degenerate rods with point-like cross-sections Relatively parallel adapted frames are the best choice Shape described by an equivalence class of paths

The definition of geometric invariants does not require smoothness

3 Discrete rods

Piecewise constant finite elements for the shape fields Effective for shape relaxation with generic stiffness tensor No interpolation needed to reconstruct the relevant information

Thank you!

(34)

Okinawa Institute of Science and Technology Graduate University Graphic Standards Manual

English Edition: Ver. 1.0 / 2011.11

Conclusions

1 Special Cosserat rods

The shape is a path in the special Euclidean algebra

The coordinate fields of this path determine the elastic energy The shape energy should not depend on the torsion of the base curve

2 Framed curves

Degenerate rods with point-like cross-sections Relatively parallel adapted frames are the best choice Shape described by an equivalence class of paths

The definition of geometric invariants does not require smoothness

3 Discrete rods

Piecewise constant finite elements for the shape fields Effective for shape relaxation with generic stiffness tensor No interpolation needed to reconstruct the relevant information

Thank you!

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