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Continental rift systems open up unique possibilities to study the geodynamic system of our planet: geodynamic localization processes are imprinted in the morphology of the rift by governing the time-dependent activity of faults, the topographic evolution of the rift or by controlling whether a rift is symmetric or asymmetric. Since lithospheric necking localizes strain towards the rift centre, deformation structures of previous rift phases are often well preserved and passive margins, the end product of continental rifting, retain key information about the tectonic history from rift inception to continental rupture.
Current understanding of continental rift evolution is based on combining observations from active rifts with data collected at rifted margins. Connecting these isolated data sets is often accomplished in a conceptual way and leaves room for subjective interpretation. Geodynamic forward models, however, have the potential to link individual data sets in a quantitative manner, using additional constraints from rock mechanics and rheology, which allows to transcend previous conceptual models of rift evolution. By quantifying geodynamic processes within continental rifts, numerical modelling allows key insight to tectonic processes that operate also in other plate boundary settings, such as mid ocean ridges, collisional mountain chains or subduction zones.
In this thesis, I combine numerical, plate-tectonic, analytical, and analogue modelling approaches, whereas numerical thermomechanical modelling constitutes the primary tool. This method advanced rapidly during the last two decades owing to dedicated software development and the availability of massively parallel computer facilities. Nevertheless, only recently the geodynamical modelling community was able to capture 3D lithospheric-scale rift dynamics from onset of extension to final continental rupture.
The first chapter of this thesis provides a broad introduction to continental rifting, a summary of the applied rift modelling methods and a short overview of previews studies. The following chapters, which constitute the main part of this thesis feature studies on plate boundary dynamics in two and three dimension followed by global scale analyses (Fig. 1).
Chapter II focuses on 2D geodynamic modelling of rifted margin formation. It highlights the formation of wide areas of hyperextended crustal slivers via rift migration as a key process that affected many rifted margins worldwide. This chapter also contains a study of rift velocity evolution, showing that rift strength loss and extension velocity are linked through a dynamic feed-back. This process results in abrupt accelerations of the involved plates during rifting illustrating for the first time that rift dynamics plays a role in changing global-scale plate motions. Since rift velocity affects key processes like faulting, melting and lower crustal flow, this study also implies that the slow-fast velocity evolution should be imprinted in rifted margin structures.
Chapter III relies on 3D Cartesian rift models in order to investigate various aspects of rift obliquity. Oblique rifting occurs if the extension direction is not orthogonal to the rift trend. Using 3D lithospheric-scale models from rift initialisation to breakup I could isolate a characteristic evolution of dominant fault orientations. Further work in Chapter III addresses the impact of rift obliquity on the strength of the rift system. We illustrate that oblique rifting is mechanically preferred over orthogonal rifting, because the brittle yielding requires a lower tectonic force. This mechanism elucidates rift competition during South Atlantic rifting, where the more oblique Equatorial Atlantic Rift proceeded to breakup while the simultaneously active but less oblique West African rift system became a failed rift. Finally this Chapter also investigates the impact of a previous rift phase on current tectonic activity in the linkage area of the Kenyan with Ethiopian rift. We show that the along strike changes in rift style are not caused by changes in crustal rheology. Instead the rift linkage pattern in this area can be explained when accounting for the thinned crust and lithosphere of a Mesozoic rift event.
Chapter IV investigates rifting from the global perspective. A first study extends the oblique rift topic of the previous chapter to global scale by investigating the frequency of oblique rifting during the last 230 million years. We find that approximately 70% of all ocean-forming rift segments involved an oblique component of extension where obliquities exceed 20°. This highlights the relevance of 3D approaches in modelling, surveying, and interpretation of many rifted margins. In a final study, we propose a link between continental rift activity, diffuse CO2 degassing and Mesozoic/Cenozoic climate changes. We used recent CO2 flux measurements in continental rifts to estimate worldwide rift-related CO2 release, which we based on the global extent of rifts through time. The first-order correlation to paleo-atmospheric CO2 proxy data suggests that rifts constitute a major element of the global carbon cycle.
Human actuation
(2018)
Ever since the conception of the virtual reality headset in 1968, many researchers have argued that the next step in virtual reality is to allow users to not only see and hear, but also feel virtual worlds. One approach is to use mechanical equipment to provide haptic feedback, e.g., robotic arms, exoskeletons and motion platforms. However, the size and the weight of such mechanical equipment tends to be proportional to its target’s size and weight, i.e., providing human-scale haptic feedback requires human-scale equipment, often restricting them to arcades and lab environments.
The key idea behind this dissertation is to bypass mechanical equipment by instead leveraging human muscle power. We thus create software systems that orchestrate humans in doing such mechanical labor—this is what we call human actuation. A potential benefit of such systems is that humans are more generic, flexible, and versatile than machines. This brings a wide range of haptic feedback to modern virtual reality systems.
We start with a proof-of-concept system—Haptic Turk, focusing on delivering motion experiences just like a motion platform. All Haptic Turk setups consist of a user who is supported by one or more human actuators. The user enjoys an interactive motion simulation such as a hang glider experience, but the motion is generated by those human actuators who manually lift, tilt, and push the user’s limbs or torso. To get the timing and force right, timed motion instructions in a format familiar from rhythm games are generated by the system.
Next, we extend the concept of human actuation from 3-DoF to 6-DoF virtual reality where users have the freedom to walk around. TurkDeck tackles this problem by orchestrating a group of human actuators to reconfigure a set of passive props on the fly while the user is progressing in the virtual environment. TurkDeck schedules human actuators by their distances from the user, and instructs them to reconfigure the props to the right place on the right time using laser projection and voice output.
Our studies in Haptic Turk and TurkDeck showed that human actuators enjoyed the experience but not as much as users. To eliminate the need of dedicated human actuators, Mutual Turk makes everyone a user by exchanging mechanical actuation between two or more users. Mutual Turk’s main functionality is that it orchestrates the users so as to actuate props at just the right moment and with just the right force to produce the correct feedback in each other's experience.
Finally, we further eliminate the need of another user, making human actuation applicable to single-user experiences. iTurk makes the user constantly reconfigure and animate otherwise passive props. This allows iTurk to provide virtual worlds with constantly varying or even animated haptic effects, even though the only animate entity present in the system is the user. Our demo experience features one example each of iTurk’s two main types of props, i.e., reconfigurable props (the foldable board from TurkDeck) and animated props (the pendulum).
We conclude this dissertation by summarizing the findings of our explorations and pointing out future directions. We discuss the development of human actuation compare to traditional machine actuation, the possibility of combining human and machine actuators and interaction models that involve more human actuators.