IPS-D — AMW Transit Physics in Collapsed and Expanded IPS Passages
Fuente:
Zenodo
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Recurso digital |
| Sprache: | Englisch |
| Veröffentlicht: |
Zenodo
2026
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866901555714719744 |
|---|---|
| author | Danenberg, James |
| author_facet | Danenberg, James |
| contents | <p>The Adaptive Matrix Worm must transit IPS passages at all depths in a 15-metre levee-scale AME. This paper derives the AMW body gauge pressure model and maps the complete design parameter space across wall thickness, body radius, and material stiffness. The baseline same-material NRL body achieves a critical depth of 4.6 m; four enhancement strategies each achieve full-depth capability.</p> <p>However, pre-pressurisation of IPS highways by the apex pump provides a 114-fold energy advantage over flat-passage transit (η_pre = 114×), and the pump runs continuously for vessel patency regardless. The engineering solution is system-level (pump), not component-level (body enhancement).</p> <p>The baseline 22 mm, 0.10 mm NRL body is confirmed as the optimal design: thin walls maximise transit speed and payload capacity. Payload capacity is locked at 9 micro-drops per body load (n² = 9), with 100 drops per densification campaign via 11 sequential missions.</p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_19903173 |
| institution | Zenodo |
| language | eng |
| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | IPS-D — AMW Transit Physics in Collapsed and Expanded IPS Passages Danenberg, James AMW soft robot transit mechanics gauge pressure NRL membrane pre-pressurisation energy advantage Adaptive Matrix Ecosystem <p>The Adaptive Matrix Worm must transit IPS passages at all depths in a 15-metre levee-scale AME. This paper derives the AMW body gauge pressure model and maps the complete design parameter space across wall thickness, body radius, and material stiffness. The baseline same-material NRL body achieves a critical depth of 4.6 m; four enhancement strategies each achieve full-depth capability.</p> <p>However, pre-pressurisation of IPS highways by the apex pump provides a 114-fold energy advantage over flat-passage transit (η_pre = 114×), and the pump runs continuously for vessel patency regardless. The engineering solution is system-level (pump), not component-level (body enhancement).</p> <p>The baseline 22 mm, 0.10 mm NRL body is confirmed as the optimal design: thin walls maximise transit speed and payload capacity. Payload capacity is locked at 9 micro-drops per body load (n² = 9), with 100 drops per densification campaign via 11 sequential missions.</p> |
| title | IPS-D — AMW Transit Physics in Collapsed and Expanded IPS Passages |
| topic | AMW soft robot transit mechanics gauge pressure NRL membrane pre-pressurisation energy advantage Adaptive Matrix Ecosystem |
| url | https://doi.org/10.5281/zenodo.19903173 |