Fix bug in computation of stiffness matrix

We need to scale the stiffness matrix with the (original) length of the segment as it represents an infitesimal quantity

examples/simulate_planar_pcs.py

@@ -26,21 +26,20 @@
 
 # set parameters
 rho = 1070 * jnp.ones((num_segments,))  # Volumetric density of Dragon Skin 20 [kg/m^3]
-D = 1e-4 * jnp.diag(
-    jnp.repeat(
-        jnp.array([[1e0, 1e3, 1e3]]), num_segments, axis=0
-    ).flatten(),
-)
 params = {
     "th0": jnp.array(0.0),  # initial orientation angle [rad]
     "l": 1e-1 * jnp.ones((num_segments,)),
     "r": 2e-2 * jnp.ones((num_segments,)),
     "rho": rho,
     "g": jnp.array([0.0, 9.81]),
-    "E": 2e2 * jnp.ones((num_segments,)),  # Elastic modulus [Pa]
-    "G": 1e2 * jnp.ones((num_segments,)),  # Shear modulus [Pa]
-    "D": D,
+    "E": 2e3 * jnp.ones((num_segments,)),  # Elastic modulus [Pa]
+    "G": 1e3 * jnp.ones((num_segments,)),  # Shear modulus [Pa]
 }
+params["D"] = 1e-3 * jnp.diag(
+    jnp.repeat(
+        jnp.array([[1e0, 1e3, 1e3]]), num_segments, axis=0
+    ).flatten(),
+) * params["l"]
 
 # activate all strains (i.e. bending, shear, and axial)
 strain_selector = jnp.ones((3 * num_segments,), dtype=bool)

pyproject.toml

@@ -17,7 +17,7 @@ name = "jsrm"  # Required
 #
 # For a discussion on single-sourcing the version, see
 # https://packaging.python.org/guides/single-sourcing-package-version/
-version = "0.0.11"  # Required
+version = "0.0.12"  # Required
 
 # This is a one-line description or tagline of what your project does. This
 # corresponds to the "Summary" metadata field:

src/jsrm/symbolic_derivation/planar_pcs.py

@@ -79,7 +79,7 @@ def symbolically_derive_planar_pcs_model(
         kappa = xi[3 * i]
         # shear strain
         sigma_x = xi[3 * i + 1]
-        # elongation strain
+        # axial strain
         sigma_y = xi[3 * i + 2]
 
         # compute the cross-sectional area of the rod

src/jsrm/systems/planar_pcs.py

@@ -141,7 +141,7 @@ def select_params_for_lambdify_fn(params: Dict[str, Array]) -> List[Array]:
     )
 
     compute_stiffness_matrix_for_all_segments_fn = vmap(
-        compute_planar_stiffness_matrix, in_axes=(0, 0, 0, 0), out_axes=0
+        compute_planar_stiffness_matrix
     )
 
     @jit
@@ -214,14 +214,16 @@ def stiffness_fn(
             Returns:
                 K: elastic matrix of shape (n_q, n_q) if formulate_in_strain_space is False or (n_xi, n_xi) otherwise
             """
+            # length of the segments
+            l = params["l"]
             # cross-sectional area and second moment of area
             A = jnp.pi * params["r"] ** 2
             Ib = A**2 / (4 * jnp.pi)
 
             # elastic and shear modulus
             E, G = params["E"], params["G"]
             # stiffness matrix of shape (num_segments, 3, 3)
-            S = compute_stiffness_matrix_for_all_segments_fn(A, Ib, E, G)
+            S = compute_stiffness_matrix_for_all_segments_fn(l, A, Ib, E, G)
             # we define the elastic matrix of shape (n_xi, n_xi) as K(xi) = K @ xi where K is equal to
             K = blk_diag(S)
 

src/jsrm/systems/utils.py

@@ -108,10 +108,11 @@ def compute_strain_basis(
 
 
 @jit
-def compute_planar_stiffness_matrix(A: Array, Ib: Array, E: Array, G: Array) -> Array:
+def compute_planar_stiffness_matrix(l: Array, A: Array, Ib: Array, E: Array, G: Array) -> Array:
     """
     Compute the stiffness matrix of the system.
     Args:
+        l: length of the segment of shape ()
         A: cross-sectional area of shape ()
         Ib: second moment of area of shape ()
         E: Elastic modulus of shape ()
@@ -120,6 +121,6 @@ def compute_planar_stiffness_matrix(A: Array, Ib: Array, E: Array, G: Array) ->
     Returns:
         S: stiffness matrix of shape (3, 3)
     """
-    S = jnp.diag(jnp.stack([Ib * E, 4 / 3 * A * G, A * E], axis=0))
+    S = l* jnp.diag(jnp.stack([Ib * E, 4 / 3 * A * G, A * E], axis=0))
 
     return S

tests/test_planar_pcs.py

@@ -21,8 +21,8 @@ def test_planar_pcs_one_segment():
         "r": jnp.array([2e-2]),
         "rho": 1000 * jnp.ones((1,)),
         "g": jnp.array([0.0, -9.81]),
-        "E": 1e7 * jnp.ones((1,)),  # Elastic modulus [Pa]
-        "G": 1e6 * jnp.ones((1,)),  # Shear modulus [Pa]
+        "E": 1e8 * jnp.ones((1,)),  # Elastic modulus [Pa]
+        "G": 1e7 * jnp.ones((1,)),  # Shear modulus [Pa]
     }
     # activate all strains (i.e. bending, shear, and axial)
     strain_selector = jnp.ones((3,), dtype=bool)