To be fully integrated into the activities of our daily lives, robots need to be capable of traversing unstructured environments and interacting safely with their surroundings. Soft robots are perfect candidates since they can adapt to their surroundings through passive material compliance, rather than relying on complex control. However, the same compliance hinders the generation of propelling forces, and current approaches face a trade-off between traveling speed, action range, and control complexity. We overcome this trade-off by developing a locomotion mechanism based on the synergistic interaction between symmetric vibrations, elasticity, and asymmetric morphology. We then realize a rapid soft locomotor using inexpensive off-the-shelf components and requiring only elementary actuation and control. A single robotic unit can travel at speeds up to 100 mm/s when tethered and 35 mm/s when untethered. We derive a model that predicts the speed of the robot as a function of several design parameters and physical properties, highlighting the role of geometric asymmetries in the resulting anisotropic motion. Moreover, these elementary units can be added together to create more complex behaviors. By adding 2 units in parallel, the assembly can locomote and be steered following nonholonomic constraints. Our approach opens the door to a new class of low-cost soft robots that can travel fast and far with elementary fabrication and control, and which can be combined to achieve complex functions without compromising their essential simplicity.

In recent years, several fitting techniques have been presented to reconstruct the parameters of a plate from its Lamb wave dispersion curves. Published studies show that these techniques can yield high accuracy results and have the potential of reconstructing several parameters at once. The precision with which parameters can be reconstructed by inverting Lamb wave dispersion curves, however, remains an open question of fundamental importance to many applications. In this work, we introduce a method of analyzing dispersion curves that yields quantitative information on the precision with which the parameters can be extracted. In our method, rather than employing error minimization algorithms, we compare a target dispersion curve to a database of theoretical ones that covers a given parameter space. By calculating a measure of dissimilarity (error) for every point in the parameter space, we reconstruct the distribution of the error in that space, beside the location of its minimum. We then introduce dimensionless quantities that describe the distribution of this error, thus yielding information about the spread of similar curves in the parameter space. We demonstrate our approach by considering both idealized and realistic scenarios, analyzing the dispersion curves obtained numerically for a plate and experimentally for a pipe. Our results show that the precision with which each parameter is reconstructed depends on the mode used, as well as the frequency range in which it is considered.

Current ultrasonic clamp-on flow meters consist of a pair of single-element transducers that are carefully positioned before use. This positioning process consists of manually finding the distance between the transducer elements, along the pipe axis, for which maximum signal-to-noise ratio (SNR) is achieved. This distance depends on the sound speed, thickness, and diameter of the pipe and on the sound speed of the liquid. However, these parameters are either known with low accuracy or completely unknown during positioning, making it a manual and troublesome process. Furthermore, even when sensor positioning is done properly, uncertainty about the mentioned parameters, and therefore on the path of the acoustic beams, limits the final accuracy of flow measurements. In this research, we address these issues using an ultrasonic clamp-on flow meter consisting of two matrix arrays, which enables the measurement of pipe and liquid parameters by the flow meter itself. Automatic parameter extraction, combined with the beam-steering capabilities of transducer arrays, yields a sensor capable of compensating for pipe imperfections. Three parameter extraction procedures are presented. In contrast to similar literature, the procedures proposed here do not require that the medium be submerged nor do they require a priori information about it. First, axial Lamb waves are excited along the pipe wall and recorded with one of the arrays. A dispersion curve-fitting algorithm is used to extract bulk sound speeds and wall thickness of the pipe from the measured dispersion curves. Second, circumferential Lamb waves are excited, measured, and corrected for dispersion to extract the pipe diameter. Third, pulse-echo measurements provide the sound speed of the liquid. The effectiveness of the first two procedures has been evaluated using simulated and measured data of stainless steel and aluminum pipes, and the feasibility of the third procedure has been evaluated using simulated data.

Shear wave elastography (SWE) has the potential to determine cardiac tissue stiffness from non-invasive shear wave speed measurements, important, e.g., for predicting heart failure. Previous studies showed that waves traveling in the interventricular septum (IVS) may display Lamb-like dispersive behaviour, introducing a thickness-frequency dependency in the wave speed. However, the IVS tapers across its length, which complicates wave speed estimation by introducing an additional variable to account for. The goal of this work is to assess the impact of tapering thickness on SWE. The investigation is performed by combining in vitro experiments with acoustic radiation force (ARF) and 2D finite element simulations, to isolate the effect of the tapering curve on ARF-induced and natural waves in the heart. The experiments show a 11% deceleration during propagation from the thick to the thin end of an IVS-mimicking tapered phantom plate. The numerical analysis shows that neglecting the thickness variation in the wavenumber-frequency domain can introduce errors of more than 30% in the estimation of the shear modulus, and that the exact tapering curve, rather than the overall thickness reduction, determines the dispersive behaviour of the wave. These results suggest that septal geometry should be accounted for when deriving cardiac stiffness with SWE.

Shear wave elastography (SWE) might allow non-invasive assessment of cardiac stiffness by relating shear wave propagation speed to material properties. However, after aortic valve closure, when natural shear waves occur in the septal wall, the stiffness of the muscle decreases significantly, and the effects of such temporal variation of medium properties on shear wave propagation have not been investigated yet. The goal of this work is to fundamentally investigate these effects. To this aim, qualitative results were first obtained experimentally using a mechanical setup, and were then combined with quantitative results from finite difference simulations. The results show that the amplitude and period of the waves increase during propagation, proportional to the relaxation of the medium, and that reflected waves can originate from the temporal stiffness variation. These general results, applied to literature data on cardiac stiffness throughout the heart cycle, predict as a major effect a period increase of 20% in waves propagating during a healthy diastolic phase, whereas only a 10% increase would result from the impaired relaxation of an infarcted heart. Therefore, cardiac relaxation can affect the propagation of waves used for SWE measurements and might even provide direct information on the correct relaxation of a heart.

Shear Wave Elastography (SWE) has been proposed to investigate cardiac health by non-invasively monitoring tissue stiffness. Previous work has shown that the plate-like geometry of the Interventricular Septum (IVS) may result in a dispersion similar to Lamb waves, complicating the link between shear wave speed and cardiac stiffness. However, the IVS is not a simple plate, e.g., its thickness tapers across its length. We have used 2-D Finite Element simulations to investigate the effects of tapering on Lamb waves. The model consists of an elastic slab immersed in water, with a thickness decreasing smoothly in space from 9 to 3 mm. Pulses with low (0-80 Hz) and high (0-700 Hz) frequency contents were used to excite natural and acoustic radiation force induced waves. The results show that natural waves can decelerate by up to 20% during propagation, leading to ambiguities in speed estimation. Moreover, neglecting tapering when fitting their dispersion curves can introduce errors in shear modulus estimation by up to 30%. In contrast, fits performed on waves with high frequency content yielded shear modulus estimations with < 5%. These results suggest that septal geometry can affect cardiac stiffness estimation performed by SWE, especially when natural waves are employed.

The diastolic functioning of the left ventricle is correlated to the stiffness of the myocardium. Shear wave (SW) elastography can be used for non-invasive stiffness measurements. These waves can have external sources such as an acoustic push, natural sources such as valve closure, or diffuse sources like breathing and flow noise. SW propagation velocities in diffuse wave fields can be analyzed after a spatio-temporal correlation technique. This technique has been applied to bulk SW [Brum et al, IEEE UFFC 2015; Parker et al, Phys Med Biol 2017] and surface waves [Sabra et al, Am Inst Phys 2007; Brum et al, JASA 2008]. However, since the myocardium is relatively thin, Lamb wave phenomena including dispersion could be expected. In this study we tested the applicability of the diffuse wave technique in a PVA thin plate phantom, and compared it to direct SW measurements and a mechanically measured shear modulus.