Imposing Dirichlet boundary conditions directly for FFT-based computational micromechanics.

We discuss how Dirichlet boundary conditions can be directly imposed for the Moulinec-Suquet discretization on the boundary of rectangular domains in iterative schemes based on the fast Fourier transform (FFT) and computational homogenization problems in mechanics. Classically, computational homogenization methods based on the fast Fourier transform work with periodic boundary conditions. There are applications, however, when Dirichlet (or Neumann) boundary conditions are required. For thermal homogenization problems, it is straightforward to impose such boundary conditions by using discrete sine (and cosine) transforms instead of the FFT. This approach, however, is not readily extended to mechanical problems due to the appearance of mixed derivatives in the Lamé operator of elasticity. Thus, Dirichlet boundary conditions are typically imposed either by using Lagrange multipliers or a "buffer zone" with a high stiffness. Both strategies lead to formulations which do not share the computational advantages of the original FFT-based schemes. The work at hand introduces a technique for imposing Dirichlet boundary conditions directly without the need for indefinite systems. We use a formulation on the deformation gradient-also at small strains-and employ the Green's operator associated to the vector Laplacian. Then, we develop the Moulinec-Suquet discretization for Dirichlet boundary conditions-requiring carefully selected weights at boundary points-and discuss the seamless integration into existing FFT-based computational homogenization codes based on dedicated discrete sine/cosine transforms. The article culminates with a series of well-chosen numerical examples demonstrating the capabilities of the introduced technology.

Simulating Pelvis Kinematics from Belt and Seat Loading in Frontal Car Crash Scenarios: Important Boundary Conditions that Influence the Outcome.

PURPOSE: The risk of submarining during automotive crashes, defined by the lap belt sliding off the pelvis to load the abdomen, is predicted to increase in future autonomous vehicles as greater variation in seating position is enabled. Biofidelic tools are required to efficiently design and evaluate new and/or improved safety systems. This study aims to evaluate the pelvis response sensitivity to variations in boundary conditions that directly influence the pelvis loads, deemed important for the submarining outcome, to facilitate a more precise comparison between finite element human body models (FE-HBMs) and post-mortem human subjects (PMHSs). METHODS: A parameter study, using a one-variable-at-a-time analysis (low/high) of belt friction, seat friction, seat stiffness, and (on/off) for added belt bending stiffness, was performed using a state-of-the-art FE-HBM in four different test scenarios; one stationary, two sleds with upright occupant posture, and one sled with reclined occupant posture. RESULTS: In the stationary scenario, both belt friction and belt bending stiffness influenced the belt folding behavior, which consequently affected the belt-to-pelvis angle at submarining. In the sled scenarios, only seat friction was found to influence the pelvis kinematics and submarining outcome, with the most biofidelic response resulting from both the low (0.2) and high (0.5) friction coefficient depending on the scenario. CONCLUSION: To reduce uncertainty in boundary conditions affecting the external pelvis loads and increase confidence in FE-HBM to PMHS comparisons, it is recommended that future experiments evaluate the PMHS to seat friction coefficient and that new belt modeling methods that accurately capture belt folding when interacting with soft tissues are developed.

Influence of engine oil-infused multi-walled carbon nanotubes and titania nanoparticles on a vertically inclined porous surface.

This study analyses the flow of a hybrid nanofluid, combining engine oil with multi-walled carbon nanotubes and titania nanoparticles. The flow occurs over a vertically inclined, electrically conducting, heat-producing/absorbing surface that is both permeable and expanding/contracting. The analysis incorporates influential factors such as buoyancy forces, heat source/sink effects, and convective conditions with Cattaneo-Christov theory and Hamilton-Crosser model. The mathematical model is numerically solved using the bvp4c solver in MATLAB. The expansion/contraction of the surface significantly impacts the boundary layer thickness, leading to changes in velocity, temperature, and various physical parameters. This study is significant due to the nanoparticles' enhanced optical and mechanical properties, offering potential applications in diverse fields. A notable finding is the reduced fluid velocity and temperature within a porous medium with permeability. These findings present opportunities for enhancing heat and fluid transmission in various systems, including those related to energy storage.

First Principles Simulations of Optical Rotation of Chiral Molecular Crystals.

In this work, we present simulations of the optical rotation (OR) for five molecular crystals at density functional theory level with periodic boundary conditions (DFT-PBC). Calculations are compared with experimental measurements and show semi-quantitative agreement with experimental data for three of the crystals: tartatic acid, benzil, and pentaerythritol. For the other two crystals, aspartic acid and glutamic acid, the calculated data are in qualitative agreement with, but two orders of magnitude smaller than, the experimental data. We provide some arguments that support the theoretical predictions and suggest that the experiments should be revisited. We also find that the position of H centers provided in experimental X-ray data is not sufficiently reliable for simulating OR, and better results are obtained when H atoms are allowed to relax while keeping heavier elements fixed at the experimental positions. Comparison with molecular cluster calculations with a better functional and a larger basis set indicate that the role of intermolecular interactions (reproduced with the PBC technique) is as or more important than the choice of model chemistry. Despite the current limitations in the level of theory that can be employed, these simulations provide a promising avenue to investigate the effect of intermolecular interactions on this sensitive electronic property of molecules and materials.

In vitro skin puncture methodology for material characterization.

Quantifying the mechanical behavior of skin has been foundational in applications of cosmetics, surgical techniques, forensic science, and protective clothing development. However, previous puncture studies have lacked consistent and physiological boundary conditions of skin. To determine natural skin tension, excision of in situ porcine skin resulted in significantly different diameter reduction (shrinkage) in leg (19.5 %) and abdominal skin (38.4 %) compared to flank skin (28.5 %) (p = 0.047). To examine effects of initial tension and pre-conditioning, five conditions of initial tension (as percentage of diameter increase) and pre-conditioning were tested in quasistatic puncture with a 5 mm spherical impactor using an electrohydraulic load frame and custom clamping apparatus. Samples with less than 5 % initial tension resulted in significantly greater (p = 0.011) force at failure (279.2 N) compared to samples with greater than 25 % initial tension (195.1 N). Eight pre-conditioning cycles of 15 mm displacement reduced hysteresis by 45 %. The coefficient of variance was substantially reduced for force, force normalized by cutis thickness, displacement, stiffness, and strain energy up to 46 %. Pre-conditioned samples at physiological initial tension (14-25 %) resulted in significantly greater (p = 0.03) normalized forces at failure (278.3 N/mm) compared to non-conditioned samples of the same initial tension (234.4 N/mm). Pre-conditioned samples with 14-25 % initial tension, representing physiological boundary conditions, resulted in the most appropriate failure thresholds with the least variation. For in vitro puncture studies, the magnitude of applied initial tension should be defined based on anatomical location, through a shrinkage experimentation, to match natural tension of skin. Characterizing the biological behavior and tolerances of skin may be utilized in finite element models to aid in protective clothing development and forensic science analyses.

Simulating asymmetric membranes using P21 periodic boundary conditions.

Molecular dynamics (MD) simulations of symmetric lipid bilayers are now well established, while those of asymmetric ones are considerably less developed. This disjunction arises in part because the surface tensions of leaflets in asymmetric bilayers can differ (unlike those of symmetric ones), and there is no simple way to determine them without assumptions. This chapter describes the use of P21 periodic boundary conditions (PBC), which allow lipids to switch leaflets, to generate asymmetric bilayers under the assumption of equal chemical potentials of lipids in opposing leaflets. A series of examples, ranging from bilayers with one lipid type to those with peptides and proteins, provides a guide for the use of P21 PBC. Critical properties of asymmetric membranes, such as spontaneous curvature, are highly sensitive to differences in the leaflet surface tensions (or differential stress), and equilibration with P21 PBC substantially reduces differential stress of asymmetric bilayers assembled with surface area-based methods. Limitations of the method are discussed. Technically, the nonstandard unit cell is difficult to parallelize and to incorporate restraints. Inherently, the assumption of equal chemical potentials, and therefore the method itself, is not applicable to all target systems. Despite these limitations, it is argued that P21 simulations should be considered when designing equilibration protocols for MD studies of most asymmetric membranes.

Solvability analysis for the Boussinesq model of heat transfer under the nonlinear Robin boundary condition for the temperature.

We consider the new boundary value problem for the generalized Boussinesq model of heat transfer under the inhomogeneous Dirichlet boundary condition for the velocity and under mixed boundary conditions for the temperature. It is assumed that the viscosity, thermal conductivity and buoyancy force in the model equations, as well as the heat exchange boundary coefficient, depend on the temperature. The mathematical apparatus for studying the inhomogeneous boundary value problem under study based on the variational method is being developed. Using this apparatus, we prove the main theorem on the global existence of a weak solution of the mentioned boundary value problem and establish sufficient conditions for the problem data ensuring the local uniqueness of the weak solution that has the additional property of smoothness with respect to temperature. This article is part of the theme issue 'Non-smooth variational problems with applications in mechanics'.

Nonrelativistic Limit of Generalized MIT Bag Models and Spectral Inequalities.

For a family of self-adjoint Dirac operators - i c ( α · ∇ ) + c 2 2 subject to generalized MIT bag boundary conditions on domains in R 3 , it is shown that the nonrelativistic limit in the norm resolvent sense is the Dirichlet Laplacian. This allows to transfer spectral geometry results for Dirichlet Laplacians to Dirac operators for large c.

Computational comparison study of virtual compression and shear test for estimation of apparent elastic moduli under various boundary conditions.

Virtual compression tests based on finite element analysis are representative noninvasive methods to evaluate bone strength. However, owing to the characteristic porous structure of bones, the material obtained from micro-computed tomography images in the finite-element model is not uniformly distributed. These characteristics cause differences in the apparent elastic moduli depending on the boundary conditions and affect the accuracy of bone-strength evaluation. Therefore, this study aimed to evaluate and compare the apparent elastic moduli under various, virtual-compression and shear-test boundary conditions. Four, nonuniform models were constructed with increasing model complexity. For representative boundary conditions, two, different, testing directions, and constrained surfaces were applied. As a result, the apparent elastic moduli of the nonuniform model varied up to 55.2% based on where the constrained surface was located in the single-end-cemented condition. Additionally, when connectivity in the test direction was lost, the accuracy of the apparent elastic moduli was low. A graphical comparison showed that the equivalent-stress distribution was more advantageous for analyzing load transferability and physical behavior than the strain-energy distribution. These results clearly show that the prediction accuracy of the apparent elastic moduli can be guaranteed if the boundary condition on the constraint and loading surfaces of the nonuniform model are applied symmetrically and the connectivity of the elements in the testing direction is well maintained. This study will aid in precision improvement of bone-strength-indicator determination for osteoporosis prevention.

Adaptive local boundary conditions to improve deformable image registration.

Objective.In medical imaging, it is often crucial to accurately assess and correct movement during image-guided therapy. Deformable image registration (DIR) consists in estimating the required spatial transformation to align a moving image with a fixed one. However, it is acknowledged that for DIR methods, boundary conditions applied to the solution are critical in preventing mis-registration. This poses an issue particularly when areas of interest are located near the image border. Despite the extensive research on registration techniques, relatively few have addressed the issue of boundary conditions in the context of medical DIR. Our aim is a step towards customizing boundary conditions to suit the diverse registration tasks at hand.Approach.We analyze the behavior of two typical global boundary conditions: homogeneous Dirichlet and homogeneous Neumann. We propose a generic, locally adaptive, Robin-type condition enabling to balance between Dirichlet and Neumann boundary conditions, depending on incoming/outgoing flow fields on the image boundaries. The proposed framework is entirely automatized through the determination of a reduced set of hyperparameters optimized via energy minimization.Main results.The proposed approach was tested on a mono-modal computed tomography (CT) thorax registration task and an abdominal CT-to-MRI registration task. For the first task, we observed a relative improvement in terms of target registration error of up to 12% (mean 4%), compared to homogeneous Dirichlet and homogeneous Neumann. For the second task, the automatic framework provides results close to the best achievable.Significance.This study underscores the importance of tailoring the registration problem at the image boundaries. In this research, we introduce a novel method to adapt the boundary conditions on a voxel-by-voxel basis, yielding optimized results in two distinct tasks: mono-modal CT thorax registration and abdominal CT-to-MRI registration. The proposed framework enables optimized boundary conditions in image registration without prior assumptions regarding the images or the motion.

Existence and convergence of the length-preserving elastic flow of clamped curves.

We study the evolution of curves with fixed length and clamped boundary conditions moving by the negative L 2 -gradient flow of the elastic energy. For any initial curve lying merely in the energy space we show existence and parabolic smoothing of the solution. Applying previous results on long-time existence and proving a constrained Lojasiewicz-Simon gradient inequality we furthermore show convergence to a critical point as time tends to infinity.

Pressure boundary conditions for immersed-boundary methods.

Immersed boundary methods have seen an enormous increase in popularity over the past two decades, especially for problems involving complex moving/deforming boundaries. In most cases, the boundary conditions on the immersed body are enforced via forcing functions in the momentum equations, which in the case of fractional step methods may be problematic due to: i) creation of slip-errors resulting from the lack of explicitly enforcing boundary conditions on the (pseudo-)pressure on the immersed body; ii) coupling of the solution in the fluid and solid domains via the Poisson equation. Examples of fractional-step formulations that simultaneously enforce velocity and pressure boundary conditions have also been developed, but in most cases the standard Poisson equation is replaced by a more complex system which requires expensive iterative solvers. In this work we propose a new formulation to enforce appropriate boundary conditions on the pseudo-pressure as part of a fractional-step approach. The overall treatment is inspired by the ghost-fluid method typically utilized in two-phase flows. The main advantage of the algorithm is that a standard Poisson equation is solved, with all the modifications needed to enforce the boundary conditions being incorporated within the right-hand side. As a result, fast solvers based on trigonometric transformations can be utilized. We demonstrate the accuracy and robustness of the formulation for a series of problems with increasing complexity.

Identifying hemodynamic factors associated with the rupture of anterior communicating artery aneurysms based on global modeling of blood flow in the cerebral artery network.

Anterior communicating artery (ACoA) aneurysms are more prone to rupture compared to aneurysms present in other cerebral arteries. We hypothesize that systemic blood flow in the cerebral artery network plays an important role in shaping intra-aneurysmal hemodynamic environment thereby affecting the rupture risk of ACoA aneurysms. The majority of existing numerical studies in this field employed local modeling methods where the physical boundaries of a model are confined to the aneurysm region, which, though having the benefit of reducing computational cost, may compromise the physiological fidelity of numerical results due to insufficient account of systemic cerebral arterial hemodynamics. In the present study, we firstly carried out numerical experiments to address the difference between the outcomes of local and global modeling methods, demonstrating that local modeling confined to the aneurysm region results in inaccurate predictions of hemodynamic parameters compared with global modeling of the ACoA aneurysm as part of the cerebral artery network. Motivated by this finding, we built global hemodynamic models for 40 ACoA aneurysms (including 20 ruptured and 20 unruptured ones) based on medical image data. Statistical analysis of the computed hemodynamic data revealed that maximum wall shear stress (WSS), minimum WSS divergence, and maximum WSS gradient differed significantly between the ruptured and unruptured ACoA aneurysms. Optimal threshold values of high/low WSS metrics were determined through a series of statistical tests. In the meantime, some morphological parameters of aneurysms, such as large nonsphericity index, aspect ratio, and bottleneck factor, were found to be associated closely with aneurysm rupture. Furthermore, multivariate logistic regression analyses were performed to derive models combining hemodynamic and morphological parameters for discriminating the rupture status of aneurysms. The capability of the models in rupture status discrimination was high, with the area under the receiver operating characteristic curve reaching up to 0.9. The findings of the study suggest that global modeling of the cerebral artery network is essential for reliable quantification of hemodynamics in ACoA aneurysms, disturbed WSS and irregular aneurysm morphology are associated closely with aneurysm rupture, and multivariate models integrating hemodynamic and morphological parameters have high potential for assessing the rupture risk of ACoA aneurysms.

Estimating pulmonary arterial remodeling via an animal-specific computational model of pulmonary artery stenosis.

Pulmonary artery stenosis (PAS) often presents in children with congenital heart disease, altering blood flow and pressure during critical periods of growth and development. Variability in stenosis onset, duration, and severity result in variable growth and remodeling of the pulmonary vasculature. Computational fluid dynamics (CFD) models enable investigation into the hemodynamic impact and altered mechanics associated with PAS. In this study, a one-dimensional (1D) fluid dynamics model was used to simulate hemodynamics throughout the pulmonary arteries of individual animals. The geometry of the large pulmonary arteries was prescribed by animal-specific imaging, whereas the distal vasculature was simulated by a three-element Windkessel model at each terminal vessel outlet. Remodeling of the pulmonary vasculature, which cannot be measured in vivo, was estimated via model-fitted parameters. The large artery stiffness was significantly higher on the left side of the vasculature in the left pulmonary artery (LPA) stenosis group, but neither side differed from the sham group. The sham group exhibited a balanced distribution of total distal vascular resistance, whereas the left side was generally larger in the LPA stenosis group, with no significant differences between groups. In contrast, the peripheral compliance on the right side of the LPA stenosis group was significantly greater than the corresponding side of the sham group. Further analysis indicated the underperfused distal vasculature likely moderately decreased in radius with little change in stiffness given the increase in thickness observed with histology. Ultimately, our model enables greater understanding of pulmonary arterial adaptation due to LPA stenosis and has potential for use as a tool to noninvasively estimate remodeling of the pulmonary vasculature.

Effect of different constraining boundary conditions on simulated femoral stresses and strains during gait.

Finite element analysis (FEA) is commonly used in orthopaedic research to estimate localised tissue stresses and strains. A variety of boundary conditions have been proposed for isolated femur analysis, but it remains unclear how these assumed constraints influence FEA predictions of bone biomechanics. This study compared the femoral head deflection (FHD), stresses, and strains elicited under four commonly used boundary conditions (fixed knee, mid-shaft constraint, springs, and isostatic methods) and benchmarked these mechanics against the gold standard inertia relief method for normal and pathological femurs (extreme anteversion and retroversion, coxa vara, and coxa valga). Simulations were performed for the stance phase of walking with the applied femoral loading determined from patient-specific neuromusculoskeletal models. Due to unrealistic biomechanics observed for the commonly used boundary conditions, we propose a novel biomechanical constraint method to generate physiological femur biomechanics. The biomechanical method yielded FHD (< 1 mm), strains (approaching 1000 µÎµ), and stresses (< 60 MPa), which were consistent with physiological observations and similar to predictions from the inertia relief method (average coefficient of determination = 0.97, average normalized root mean square error = 0.17). Our results highlight the superior performance of the biomechanical method compared to current methods of constraint for  both healthy and pathological femurs.

Modelling lower-limb peripheral arterial disease using clinically available datasets: impact of inflow boundary conditions on hemodynamic indices for restenosis prediction.

BACKGROUND AND OBJECTIVES: The integration of hemodynamic markers as risk factors in restenosis prediction models for lower-limb peripheral arteries is hindered by fragmented clinical datasets. Computed tomography (CT) scans enable vessel geometry reconstruction and can be obtained at different times than the Doppler ultrasound (DUS) images, which provide information on blood flow velocity. Computational fluid dynamics (CFD) simulations allow the computation of near-wall hemodynamic indices, whose accuracy depends on the prescribed inlet boundary condition (BC), derived from the DUS images. This study aims to: (i) investigate the impact of different DUS-derived velocity waveforms on CFD results; (ii) test whether the same vessel areas, subjected to altered hemodynamics, can be detected independently of the applied inlet BC; (iii) suggest suitable DUS images to obtain reliable CFD results. METHODS: CFD simulations were conducted on three patients treated with bypass surgery, using patient-specific DUS-derived inlet BCs recorded at either the same or different time points than the CT scan. The impact of the chosen inflow condition on bypass hemodynamics was assessed in terms of wall shear stress (WSS)-derived quantities. Patient-specific critical thresholds for the hemodynamic indices were applied to identify critical luminal areas and compare the results with a reference obtained with a DUS image acquired in close temporal proximity to the CT scan. RESULTS: The main findings indicate that: (i) DUS-derived inlet velocity waveforms acquired at different time points than the CT scan led to statistically significantly different CFD results (p<0.001); (ii) the same luminal surface areas, exposed to low time-averaged WSS, could be identified independently of the applied inlet BCs; (iii) similar outcomes were observed for the other hemodynamic indices if the prescribed inlet velocity waveform had the same shape and comparable systolic acceleration time to the one recorded in close temporal proximity to the CT scan. CONCLUSIONS: Despite a lack of standardised data collection for diseased lower-limb peripheral arteries, an accurate estimation of luminal areas subjected to altered near-wall hemodynamics is possible independently of the applied inlet BC. This holds if the applied inlet waveform shares some characteristics - derivable from the DUS report - as one matching the acquisition time of the CT scan.

Comparative study on numerical simulation of temperature field of farm house with different roof forms.

In recent years, the issue of energy consumption in farm buildings has received much attention. The roofs of farm buildings in Northwest China have a variety of roof forms. This paper presents the implementation of first fully confirmed the indoor thermal environment of different roof construction was significantly effected by periodic thermogenesis. In order to determine the indoor temperature distribution of the farmhouse in summer in Ningxia Hui Autonomous Region, we provided the heat transfer coefficient data of the farmhouse envelope, also detailed in the manuscript. Model of Thermal Mass Transport enables fast and accurately simulates the indoor temperature distribution of farmhouses with different roof forms on the same day, taking into account the climate zone of the region. This is despite the phase delay time of indoor temperatures for different roof forms caused by periodic initial temperature boundaries ranged from 1.55 to 2.78 h , and the phase delay angle ranged from 23.25 ∘ to 41.7 ∘ . Extensive simulated results revealed individual variability in the role of roof form, demonstrating indoor temperatures in farmhouses corresponding to different climatic zones. In addition, by analyzing and discussing the indoor temperature phase delay angle and delay time for each type of roof forms, statistical results identified the advantages of Non-equal-sloped roof as a local farmhouse roof.

Dynamics in Explicit Gradient Elasticity: Material Frame-Indifference, Boundary Conditions and Consistent Euler-Bernoulli Beam Theory.

The paper is concerned with the boundary conditions of explicit gradient elasticity of Mindlin's type in dynamics. It has been argued in an earlier paper that acceleration terms should not be present in the boundary tractions because of objectivity arguments. This is discussed in the present paper in more detail, and it is supplemented by assuming the validity of the principle of material frame indifference. Furthermore, new examples are discussed in order to illustrate that significant differences exist in the responses predicted by boundary tractions with and without acceleration terms.

Artificial Domain Patterning in Ultrathin Ferroelectric Films via Modifying the Surface Electrostatic Boundary Conditions.

Nanoscale spatially controlled modulation of the properties of ferroelectrics via artificial domain pattering is crucial to their emerging optoelectronics applications. New patterning strategies to achieve high precision and efficiency and to link the resultant domain structures with device functionalities are being sought. Here, we present an epitaxial heterostructure of SrRuO3/PbTiO3/SrRuO3, wherein the domain configuration is delicately determined by the charge screening conditions in the SrRuO3 layer and the substrate strains. Chemical etching of the top SrRuO3 layer leads to a transition from in-plane a domains to out-of-plane c domains, accompanied by a giant (>105) modification in the second harmonic generation response. The modulation effect, coupled with the plasmonic resonance effect from SrRuO3, enables a highly flexible design of nonlinear optical devices, as demonstrated by a simulated split-ring resonator metasurface. This domain patterning strategy may be extended to more thin-film ferroelectric systems with domain stabilities amenable to electrostatic boundary conditions.

Impact of left atrial wall motion assumptions in fluid simulations on proposed predictors of thrombus formation.

Atrial fibrillation (AF) poses a significant risk of stroke due to thrombus formation, which primarily occurs in the left atrial appendage (LAA). Medical image-based computational fluid dynamics (CFD) simulations can provide valuable insight into patient-specific hemodynamics and could potentially enhance personalized assessment of thrombus risk. However, the importance of accurately representing the left atrial (LA) wall dynamics has not been fully resolved. In this study, we compared four modeling scenarios; rigid walls, a generic wall motion based on a reference motion, a semi-generic wall motion based on patient-specific motion, and patient-specific wall motion based on medical images. We considered a LA geometry acquired from 4D computed tomography during AF, systematically performed convergence tests to assess the numerical accuracy of our solution strategy, and quantified the differences between the four approaches. The results revealed that wall motion had no discernible impact on LA cavity hemodynamics, nor on the markers that indicate thrombus formation. However, the flow patterns within the LAA deviated significantly in the rigid model, indicating that the assumption of rigid walls may lead to errors in the estimated risk factors. In contrast, the generic, semi-generic, and patient-specific cases were qualitatively similar. The results highlight the crucial role of wall motion on hemodynamics and predictors of thrombus formation, and also demonstrate the potential of using a generic motion model as a surrogate for the more complex patient-specific motion. While the present study considered a single case, the employed CFD framework is entirely open-source and designed for adaptability, allowing for integration of additional models and generic motions.