A Design Method for Flexure-Based Compliant Mechanisms on the Basis of Stiffness and Stress Characteristics

Geometric nonlinearities of flexure hinges introduced by large deflections often complicate the analysis of compliant mechanisms containing such members, and therefore, Pseudo-Rigid-Body Models (PRBMs) have been well proposed and developed by Howell [1994] to analyze the characteristics of slender beams under large deflection. These models, however, fail to approximate the characteristics for the deep beams (short beams) or the other flexure hinges. Lobontiu's work [2001] contributed to the diverse flexure hinge analysis building on the assumptions of small deflection, which also limits the application range of these flexure hinges and cannot analyze the stiffness and stress characteristics of these flexure hinges for large deflection. Therefore, the objective of this thesis is to analyze flexure hinges considering both the effects of large-deflection and shear force, which guides the design of flexure-based compliant mechanisms. The main work conducted in the thesis is outlined as follows. 1. Three popular types of flexure hinges: (circular flexure hinges, elliptical flexure hinges and corner-filleted flexure hinges) are chosen for analysis at first. 2. Commercial software (Comsol) based Finite Element Analysis (FEA) method is then used for correcting the errors produced by the equations proposed by Lobontiu when the chosen flexure hinges suffer from large deformation. 3. Three sets of generic design equations for the three types of flexure hinges are further proposed on the basis of stiffness and stress characteristics from the FEA results. 4. A flexure-based four-bar compliant mechanism is finally studied and modeled using the proposed generic design equations. The load-displacement relationships are verified by a numerical example. The results show that a maximum error about the relationship between moment and rotation deformation is less than 3.4% for a flexure hinge, and it is lower than 5% for the four-bar compliant mechanism compared with the FEA results.

Design and Characterization of Curved and Spherical Flexure Hinges for Planar and Spatial Compliant Mechanisms

A flexure hinge is a flexible connector that can provide a limited rotational motion between two rigid parts by means of material deformation. These connectors can be used to substitute traditional kinematic pairs (like bearing couplings) in rigid-body mechanisms. When compared to their rigid-body counterpart, flexure hinges are characterized by reduced weight, absence of backlash and friction, part-count reduction, but restricted range of motion. There are several types of flexure hinges in the literature that have been studied and characterized for different applications. In our study, we have introduced new types of flexures with curved structures i.e. circularly curved-beam flexures and spherical flexures. These flexures have been utilized for both planar applications (e.g. articulated robotic fingers) and spatial applications (e.g. spherical compliant mechanisms). We have derived closed-form compliance equations for both circularly curved-beam flexures and spherical flexures. Each element of the spatial compliance matrix is analytically computed as a function of hinge dimensions and employed material. The theoretical model is then validated by comparing analytical data with the results obtained through Finite Element Analysis. A case study is also presented for each class of flexures, concerning the potential applications in the optimal design of planar and spatial compliant mechanisms. Each case study is followed by comparing the performance of these novel flexures with the performance of commonly used geometries in terms of principle compliance factors, parasitic motions and maximum stress demands. Furthermore, we have extended our study to the design and analysis of serial and parallel compliant mechanisms, where the proposed flexures have been employed to achieve spatial motions e.g. compliant spherical joints.

Fiber beam-columns models with flexure-shear interaction for nonlinear analysis of reinforced concrete structures

The aim of this study was to develop a model capable to capture the different contributions which characterize the nonlinear behaviour of reinforced concrete structures. In particular, especially for non slender structures, the contribution to the nonlinear deformation due to bending may be not sufficient to determine the structural response. Two different models characterized by a fibre beam-column element are here proposed. These models can reproduce the flexure-shear interaction in the nonlinear range, with the purpose to improve the analysis in shear-critical structures. The first element discussed is based on flexibility formulation which is associated with the Modified Compression Field Theory as material constitutive law. The other model described in this thesis is based on a three-field variational formulation which is associated with a 3D generalized plastic-damage model as constitutive relationship. The first model proposed in this thesis was developed trying to combine a fibre beamcolumn element based on the flexibility formulation with the MCFT theory as constitutive relationship. The flexibility formulation, in fact, seems to be particularly effective for analysis in the nonlinear field. Just the coupling between the fibre element to model the structure and the shear panel to model the individual fibres allows to describe the nonlinear response associated to flexure and shear, and especially their interaction in the nonlinear field. The model was implemented in an original matlab® computer code, for describing the response of generic structures. The simulations carried out allowed to verify the field of working of the model. Comparisons with available experimental results related to reinforced concrete shears wall were performed in order to validate the model. These results are characterized by the peculiarity of distinguishing the different contributions due to flexure and shear separately. The presented simulations were carried out, in particular, for monotonic loading. The model was tested also through numerical comparisons with other computer programs. Finally it was applied for performing a numerical study on the influence of the nonlinear shear response for non slender reinforced concrete (RC) members. Another approach to the problem has been studied during a period of research at the University of California Berkeley. The beam formulation follows the assumptions of the Timoshenko shear beam theory for the displacement field, and uses a three-field variational formulation in the derivation of the element response. A generalized plasticity model is implemented for structural steel and a 3D plastic-damage model is used for the simulation of concrete. The transverse normal stress is used to satisfy the transverse equilibrium equations of at each control section, this criterion is also used for the condensation of degrees of freedom from the 3D constitutive material to a beam element. In this thesis is presented the beam formulation and the constitutive relationships, different analysis and comparisons are still carrying out between the two model presented.

Effects of habitat characteristics on cryptic fish assemblages

Habitat structure is known to influence the abundance of fishes on temperate reefs. Biotic interactions play a major role in determining the distribution and abundance of species. The significance of these forces in affecting the abundance of fishes may hinge on the presence of organisms that either create or alter habitat. On temperate reefs, for example, macroalgae are considered autogenic ecosystem engineers because they control resource availability to other species through their physical structure and provide much of the structure used by fish. On both coral and temperate reefs, small cryptic reef fishes may comprise up to half of the fish numbers and constitute a diverse community containing many specialized species. Small cryptic fishes (<100 mm total length) may be responsible for the passage of 57% of the energy flow and constitute ca. 35% of the overall reef fish biomass on coral reefs. These benthic fish exploit restricted habitats where food and shelter are obtained in, or in relation to, conditions of substrate complexity and/or restricted living space. A range of mechanisms has been proposed to account for the diversity and the abundance of small fishes: (1) lifehistory strategies that promote short generation times, (2) habitat associations and behaviour that reduce predation and (3) resource partitioning that allows small species to coexist with larger competitors. Despite their abundance and potential importance within reef systems, little is known of the community ecology of cryptic fishes. Specifically on habitat associations many theories suggested a not clear direction on this subject. My research contributes to the development of marine fish ecology by addressing the effects of habitat characteristics upon distribution of cryptobenthic fish assemblages. My focus was on the important shallow, coastal ecosystems that often serve as nursery habitat for many fish and where different type of habitat is likely to both play important roles in organism distribution and survival. My research included three related studies: (1) identification of structuring forces on cryptic fish assemblages, such as physical and biological forcing; (2) macroalgae as potential tools for cryptic fish and identification of different habitat feature that could explain cryptic fish assemblages distribution; (3) canopy formers loss: consequences on cryptic fish and relationship with benthos modifications. I found that: (1) cryptic fish assemblages differ between landward and seaward sides of coastal breakwaters in Adriatic Sea. These differences are explained by 50% of the habitat characteristics on two sides, mainly due to presence of the Codium fragile, sand and oyster assemblages. Microhabitat structure influence cryptic fish assemblages. (2) Different habitat support different cryptic fish assemblages. High heterogeneity on benthic assemblages reflect different fish assemblages. Biogenic components that explain different and diverse cryptic fish assemblages are: anemonia bed, mussel bed, macroalgal stands and Cystoseira barbata, as canopy formers. (3) Canopy forming loss is not relevant in structuring directly cryptic fish assemblages. A removal of canopy forming algae did not affect the structure of cryptic fish assemblages. Canopy formers algae on Conero cliff, does not seem to act as structuring force, probably due to its regressive status. In conclusion, cryptic fish have been shown to have species-specific associations with habitat features relating to the biological and non biological components afforded by fish. Canopy formers algae do not explain cryptic fish assemblages distribution and the results of this study and information from the literature (both from the Mediterranean Sea and elsewhere) show that there are no univocal responses of fish assemblages. Further exanimations on an non regressive status of Cystoseira canopy habitat are needed to define and evaluate the relationship between canopy formers and fish on Mediterranean sea.

Evoluzione Morfotettonica delle Aree Alpine "Sempione" e "Brennero" attraverso Studi Termocronologici di bassa temperatura

E’ mostrata l’analisi e la modellazione di dati termocronologici di bassa temperatura da due regioni Alpine: il Sempione ed il Brennero. Le faglie distensive presenti bordano settori crostali profondi appartenenti al dominio penninico: il duomo metamorfico Lepontino al Sempione e la finestra dei Tauri al Brennero. I dati utilizzati sono FT e (U-Th)/He su apatite. Per il Sempione i dati provengono dalla bibliografia; per il Brennero si è provveduto ad un nuovo campionamento, sia in superficie che in sotterraneo. Gli attuali lavori per la galleria di base del Brennero (BBT), hanno consentito, per la prima volta, di raccogliere dati di FT e (U-Th)/He in apatite in sottosuolo per la finestra dei Tauri occidentale. Le analisi sono state effettuate tramite un codice a elementi finiti, Pecube, risolvente l’equazione di diffusione del calore per una topografia evolvente nel tempo. Il codice è stato modificato per tener conto dei dati sotterranei. L’inversione dei dati è stata effettuata usando il Neighbourhood Algorithm (NA), per ottenere il più plausibile scenario di evoluzione morfotettonico. I risultati ottenuti per il Sempione mostrano: ipotetica evoluzione dello stile tettonico della faglia del Sempione da rolling hinge a low angle detachment a 6.5 Ma e la cessazione dell’attività a 3 Ma; costruzione del rilievo fino a 5.5 Ma, smantellamento da 5.5 Ma ad oggi, in coincidenza dei cambiamenti climatici Messiniani e relativi all’inizio delle maggiori glaciazioni; incremento dell’esumazione da 0–0.6 mm/anno a 0.6–1.2 mm/anno a 2.4 Ma nell’emisfero settentrionale. I risultati al Brennero mostrano: maggiore attività tettonica della faglia del Brennero (1.3 mm/anno), maggiore attività esumativa (1–2 mm/anno) prima dei 10 Ma; crollo dell’attività della faglia del Brennero fra 10 Ma e oggi (0.1 mm/anno) e dell’attività esumativa nello stesso periodo (0.1–0.3 mm/anno); nessun aumento del tasso esumativo o variazioni topografiche negli ultimi 5 Ma.

Comparison between analytical and numerical methods for the assessment of masonry arch bridges: Case study of Clemente Bridge on Savio river

This research has focused on the study of the behavior and of the collapse of masonry arch bridges. The latest decades have seen an increasing interest in this structural type, that is still present and in use, despite the passage of time and the variation of the transport means. Several strategies have been developed during the time to simulate the response of this type of structures, although even today there is no generally accepted standard one for assessment of masonry arch bridges. The aim of this thesis is to compare the principal analytical and numerical methods existing in literature on case studies, trying to highlight values and weaknesses. The methods taken in exam are mainly three: i) the Thrust Line Analysis Method; ii) the Mechanism Method; iii) the Finite Element Methods. The Thrust Line Analysis Method and the Mechanism Method are analytical methods and derived from two of the fundamental theorems of the Plastic Analysis, while the Finite Element Method is a numerical method, that uses different strategies of discretization to analyze the structure. Every method is applied to the case study through computer-based representations, that allow a friendly-use application of the principles explained. A particular closed-form approach based on an elasto-plastic material model and developed by some Belgian researchers is also studied. To compare the three methods, two different case study have been analyzed: i) a generic masonry arch bridge with a single span; ii) a real masonry arch bridge, the Clemente Bridge, built on Savio River in Cesena. In the analyses performed, all the models are two-dimensional in order to have results comparable between the different methods taken in exam. The different methods have been compared with each other in terms of collapse load and of hinge positions.

Comportamento dinamico fuori del piano di pareti murarie: influenza della deformabilità degli impalcati

The aim of this study was to investigate the influence of the diaphragm flexibility on the behavior of out-of-plane walls in masonry buildings. Simplified models have been developed to perform kinematic and dynamic analyses in order to compare the response of walls with different restraint conditions. Kinematic non linear analyses of assemblages of rigid blocks have been performed to obtain the acceleration-displacement curves for walls with different restraint conditions at the top. A simplified 2DOF model has been developed to analyse the dynamic response of the wall with an elastic spring at the top, following the Housner rigid behaviour hypothesis. The dissipation of energy is concentrated at every impact at the base of the wall and is modelled through the introduction of the coefficient of restitution. The sets of equations of the possible configurations of the wall, depending on the different positions of the centre of rotation at the base and at the intermediate hinge have been obtained. An algorithm for the numerical integration of the sets of the equations of motion in the time domain has been developed. Dynamic analyses of a set of walls with Gaussian impulses and recorded accelerograms inputs have been performed in order to compare the response of the simply supported wall with the one of the wall with elastic spring at the top. The influence of diaphragm stiffness Kd has been investigated determining the variation of maximum displacement demand with the value of Kd. A more regular trend has been obtained for the Gaussian input than for the recorded accelerograms.

Negativi di memoria. La rappresentazione del trauma nel romanzo del Novecento. Samuel Beckett, Georges Perec, Agota Kristof

Oggetto di questa tesi è l’analisi delle modalità di rappresentazione del trauma nel romanzo del Novecento e, in particolare, nelle opere di Samuel Beckett, Georges Perec e Agota Kristof. Fondamento dello studio sarà una disamina dei procedimenti linguistici e narrativi di rappresentazione del trauma nelle prose degli autori citati, al fine tracciare le linee di un’estetica in grado di descrivere le caratteristiche peculiari delle narrazioni in cui la dimensione antinarrativa della memoria traumatica assume il ruolo di principio estetico guida. L’analisi si soffermerà sulla cruciale relazione esistente, in tutti e tre gli autori, tra rappresentazione del trauma e sviluppo di strategie narrativi definibili come “denegative”. L’analisi dei testi letterari è condotta sulla base del corpus critico dei Trauma Studies, dell’ermeneutica della narrazione di stampo ricœuriano e della teoria del linguaggio psicoanalitica e affiancata, ove possibile, da uno studio filologico-genetico dei materiali d’autore. Alla luce di tali premesse, intendo rivalutare il carattere rappresentativo e testimoniale della letteratura del secolo scorso, in contrasto con la consuetudine a vedere nel romanzo novecentesco il trionfo dell’antimimesi e il declino del racconto. Dal momento che le narrazioni traumatiche si costruiscono intorno e attraverso i vuoti di linguaggio, la tesi è che siano proprio questi vuoti linguistici e narrativi (amnesie, acronie, afasie, lapsus, omissioni e mancanze ancora più sofisticate come nel caso di Perec) a rappresentare, in modo mimetico, la realtà apparentemente inaccessibile del trauma. Si tenterà di dimostrare come questi nuovi canoni di rappresentazione non denuncino l’impossibilità del racconto, bensì una sfida al silenzio, celata in più sottili e complesse convenzioni narrative, le quali mantengono un rapporto di filiazione indiretto − per una via che potremmo definire denegativa − con quelle del romanzo tradizionale.

Interspecies study of the enteric nervous system and related pathologies

The enteric nervous system (ENS) modulates a number of digestive functions including well known ones, i.e. motility, secretion, absorption and blood flow, along with other critically relevant processes, i.e. immune responses of the gastrointestinal (GI) tract, gut microbiota and epithelial barrier . The characterization of the anatomical aspects of the ENS in large mammals and the identification of differences and similarities existing between species may represent a fundamental basis to decipher several digestive GI diseases in humans and animals. In this perspective, the aim of the present thesis is to highlight the ENS anatomical basis and pathological aspects in different mammalian species, such as horses, dogs and humans. Firstly, I designed two anatomical studies in horses:  “Excitatory and inhibitory enteric innervation of horse lower esophageal sphincter”.  “Localization of 5-hydroxytryptamine 4 receptor (5-HT4R) in the equine enteric nervous system”. Then I focused on the enteric dysfunctions, including:  A primary enteric aganglionosis in horses: “Extrinsic innervation of the ileum and pelvic flexure of foals with ileocolonic aganglionosis”.  A diabetic enteric neuropathy in dogs: “Quantification of nitrergic neurons in the myenteric plexus of gastric antrum and ileum of healthy and diabetic dogs”.  An enteric neuropathy in human neurological patients: “Functional and neurochemical abnormalities in patients with Parkinson's disease and chronic constipation”. The physiology of the GI tract is characterized by a high complexity and it is mainly dependent on the control of the intrinsic nervous system. ENS is critical to preserve body homeostasis as reflect by its derangement occurring in pathological conditions that can be lethal or seriously disabling to humans and animals. The knowledge of the anatomy and the pathology of the ENS represents a new important and fascinating topic, which deserves more attention in the veterinary medicine field.