Node-Wise Monotone Barrier Coupling Law for Formation Control.

We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law (1) allows us to assign multiple central patterns on the circle and (2) allows for rapid switching between different patterns via simple 'kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.

Discontinuous Metric Programming in Liquid Crystalline Elastomers.

Liquid crystalline elastomers (LCEs) are shape-changing materials that exhibit large deformations in response to applied stimuli. Local control of the orientation of LCEs spatially directs the deformation of these materials to realize a spontaneous shape change in response to stimuli. Prior approaches to shape programming in LCEs utilize patterning techniques that involve the detailed inscription of spatially varying nematic fields to produce sheets. These patterned sheets deform into elaborate geometries with complex Gaussian curvatures. Here, we present an alternative approach to realize shape-morphing in LCEs where spatial patterning of the crosslink density locally regulates the material deformation magnitude on either side of a prescribed interface curve. We also present a simple mathematical model describing the behavior of these materials. Further experiments coupled with the mathematical model demonstrate the control of the sign of Gaussian curvature, which is used in combination with heat transfer effects to design LCEs that self-clean as a result of temperature-dependent actuation properties.

Multivalued Inverse Design: Multiple Surface Geometries from One Flat Sheet.

Designing flat sheets that can be made to deform into three-dimensional shapes is an area of intense research with applications in micromachines, soft robotics, and medical implants. Thus far, such sheets were designed to adopt a single target shape. Here, we show that through anisotropic deformation applied inhomogeneously throughout a sheet, it is possible to design a single sheet that can deform into multiple surface geometries upon different actuations. The key to our approach is development of an analytical method for solving this multivalued inverse problem. Such sheets open the door to fabricating machines that can perform complex tasks through cyclic transitions between multiple shapes. As a proof of concept, we design a simple swimmer capable of moving through a fluid at low Reynolds numbers.

Nematic director fields and topographies of solid shells of revolution.

We solve the forward and inverse problems associated with the transformation of flat sheets with circularly symmetric director fields to surfaces of revolution with non-trivial topography, including Gaussian curvature, without a stretch elastic cost. We deal with systems slender enough to have a small bend energy cost. Shape change is induced by light or heat causing contraction along a non-uniform director field in the plane of an initially flat nematic sheet. The forward problem is, given a director distribution, what shape is induced? Along the way, we determine the Gaussian curvature and the evolution with induced mechanical deformation of the director field and of material curves in the surface (proto-radii) that will become radii in the final surface. The inverse problem is, given a target shape, what director field does one need to specify? Analytic examples of director fields are fully calculated that will, for specific deformations, yield catenoids and paraboloids of revolution. The general prescription is given in terms of an integral equation and yields a method that is generally applicable to surfaces of revolution.

Frame, metric and geodesic evolution in shape-changing nematic shells.

Non-uniform director fields in flat, responsive, glassy nematic sheets lead to the induction of shells with non-trivial topography on the application of light or heat. Contraction along the director causes metric change, with, in general, the induction of Gaussian curvature, that drives the topography change. We describe the metric change, the evolution of the director field, and the transformation of reference state material curves, e.g. spirals into radii, as curvature develops. The non-isometric deformations associated with heat or light change the geodesics of the surface, intriguingly even in regions where no Gaussian curvature results.

Encoding Gaussian curvature in glassy and elastomeric liquid crystal solids.

We describe shape transitions of thin, solid nematic sheets with smooth, preprogrammed, in-plane director fields patterned across the surface causing spatially inhomogeneous local deformations. A metric description of the local deformations is used to study the intrinsic geometry of the resulting surfaces upon exposure to stimuli such as light and heat. We highlight specific patterns that encode constant Gaussian curvature of prescribed sign and magnitude. We present the first experimental results for such programmed solids, and they qualitatively support theory for both positive and negative Gaussian curvature morphing from flat sheets on stimulation by light or heat. We review logarithmic spiral patterns that generate cone/anti-cone surfaces, and introduce spiral director fields that encode non-localized positive and negative Gaussian curvature on punctured discs, including spherical caps and spherical spindles. Conditions are derived where these cap-like, photomechanically responsive regions can be anchored in inert substrates by designing solutions that ensure compatibility with the geometric constraints imposed by the surrounding media. This integration of such materials is a precondition for their exploitation in new devices. Finally, we consider the radial extension of such director fields to larger sheets using nematic textures defined on annular domains.

Curvature generation in nematic surfaces.

In recent years there has been a growing interest in the study of shape formation using modern responsive materials that can be preprogrammed to undergo spatially inhomogeneous local deformations. In particular, nematic liquid crystalline solids offer exciting possibilities in this context. Considerable recent progress has been made in achieving a variety of shape transitions in thin sheets of nematic solids by engineering isolated points of concentrated Gaussian curvature using topological defects in the nematic director field across textured surfaces. In this paper, we consider ways of achieving shape transitions in thin sheets of nematic glass by generation of nonlocalized Gaussian curvature in the absence of topological defects in the director field. We show how one can blueprint any desired Gaussian curvature in a thin nematic sheet by controlling the nematic alignment angle across the surface and highlight specific patterns which present feasible initial targets for experimental verification of the theory.