DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.

MATERIAL MODELING AND ANALYSIS FOR THE DEVELOPMENT OF A REALISTIC BLAST HEADFORM

Blast traumatic brain injury (BTBI) has become an important topic of study because of the increase of such incidents, especially due to the recent growth of improvised explosive devices (IEDs). This thesis discusses a project in which laboratory testing of BTBI was made possible by performing blast loading on experimental models simulating the human head. Three versions of experimental models were prepared – one having a simple geometry and the other two having geometry similar to a human head. For developing the head models, three important parts of the head were considered for material modeling and analysis – the skin, skull and brain. The materials simulating skin, skull and brain went through many testing procedures including dynamic mechanical analysis (DMA). For finding a suitable brain simulant, several materials were tested under low and high frequencies. Step response analysis, rheometry and DMA tests were performed on materials such as water based gels, oil based mixtures and silicone gels cured at different temperatures. The gelatins and silicone gels showed promising results toward their use as brain surrogate materials. Temperature degradation tests were performed on gelatins, indicating the fast degradation of gelatins at room temperature. Silicone gels were much more stable compared to the water based gels. Silicone gels were further processed using a thinner-type additive gel to bring the dynamic modulus values closer to those of human brain matter. The obtained values from DMA were compared to the values for human brain as found in literature. Then a silicone rubber brain mold was prepared to give the brain model accurate geometry. All the components were put together to make the entire head model. A steel mount was prepared to attach the head for testing at the end of the shock tube. Instrumentation was implemented in the head model to obtain effective results for understanding more about the possible mechanisms of BTBI. The final head model was named the Realistic Explosive Dummy Head or the “RED Head.” The RED Head offered potential for realistic experimental testing in blast loading conditions by virtue of its material properties and geometrical accuracy.

MECHANICAL TESTING DEVICE FOR VISCOELASTIC BIOMATERIALS

Nearly all biologic tissues exhibit viscoelastic behavior. This behavior is characterized by hysteresis in the response of the material to load or strain. This information can be utilized in extrapolation of life expectancy of vascular implant materials including native tissues and synthetic materials. This behavior is exhibited in many engineering materials as well such as the polymers PTFE, polyamide, polyethylene, etc. While procedures have been developed for evaluating the engineering polymers the techniques for biologic tissues are not as mature. There are multiple reasons for this. A major one is a cultural divide between the medical and engineering communities. Biomedical engineers are beginning to fill that void. A digitally controlled drivetrain designed to evaluate both elastic and viscoelastic characteristics of biologic tissues has been developed. The initial impetus for the development of this device was to evaluate the potential for human umbilical tissue to serve as a vascular graft material. The consequence is that the load frame is configured for membrane type specimens with rectangular dimensions of no more than 25mm per side. The designed load capacity of the drivetrain is to impose an axial load of 40N on the specimen. This drivetrain is capable of assessing the viscoelastic response of the specimens by four different test modes: stress relaxation, creep, harmonic induced oscillations, and controlled strain rate tests. The fluorocarbon PTFE has mechanical properties commensurate with vascular tissue. In fact, it has been used for vascular grafts in patients who have been victims of various traumas. Hardware and software validation of the device was accomplished by testing PTFE and comparing the results to properties that have been published by both researchers and manufacturers.

Dimensionamento de espessadores: validação experimental de três técnicas convencionais

This work reviews the fundamentals of three important techniques currently used to dimension thickeners: Flux of Solids, Talmadge-Fitch, and Roberts. They were applied to validate the calculation of diameter (D) and sedimentation area (A) of a real thickener, which clarifies brine in a plant located at Cubatao-SP. The calculation of thickener dimension (A and D) was based on the sedimentation behavior of salt particles in brine on a laboratory scale. The values of D and A (D=13,9-14,1m; A=151,7-156,1m(2)), which were calculated by the three techniques, were compared with the diameter of the real equipment (D=20,0m). On the other hand, corrected values of D and A (D=18,1-18,3m; A=257, 0-263, 0m(2)) were obtained by using a scale factor (f=1,3). These results are 10% lower than the real equipment.

Experimento para quantificar a eficiência de aspersão de líquidos: aplicação em distribuidores espinha de peixe

This paper describes a device developed on the pilot scale and a simple approach to compare liquid distributor efficiencies. The technique consists basically of analyzing the mass of the liquid collected in 21 vertical pipes measuring 52 mm in internal diameter and 800 mm in length placed in a quadratic arrangement and positioned below the distributor A 50 mm thick acrylic blanket that does not disperse liquids was placed between the distributor and the pipe bank to avoid splashes. Assays were carried out with ladder-type distributors equipped with 4 parallel pipes each for a column measuring 400 nun in diameter as an example of the application. The number (n) of orifices (95, 127, and 159 orifices/m(2)), orifice diameter (d) (2, 3, and 4 mm) and the flowrate (q) (1.2; 1.4; and 1.6 m(3)/h) were varied. The best spread efficiency, which presented the lowest standard deviation, was achieved with 159 orifices, 2 mm and 1.4 m(3)/h. The pressure (p) at the distributor inlet for this condition was only 51000 Pa (0.51 kgf/cm(2)), while the average velocity (v) was 6.3 m/s in each orifice. These results show some limitations of the practical rules used in distributor designs.

Indicadores-chave de desempenho e a gestão integrada da mineração

The exceptional advance of information technology and computer application to the mineral sector has allowed the automation of several processes of the mineral value chain. ERP systems (Enterprise Resource Planning) provided the platform for the efficient integration of all support activities of the mineral value chain. Despite all advances gathered with the application of computers, it was not possible to date, to effectively integrate the primary activities of the mineral value chain. The main reason for that are the uncertainties present in the productive process, which are intrinsic to the business, and the difficulty to quantify and qualify the benefits obtained with this integration due to the lack of a clear definition of the key performance indicators (KPIs). This work presents an analysis of the ERP systems application in Brazilian mining, identifies the KPIs of some of the most important Brazilian mining companies, and discusses the importance of mapping and measuring these indicators for the effective. management of the mining business.

Escrubagem da bauxita de Paragominas - PA. Parte 1: influência de variáveis operacionais na desagregação da bauxita

The aim of this study was to investigate the bauxite scrubbing process on samples from Miltonia 3, a Vale operation in the State of Para, Brazil. The experimental program included the design of a standard laboratory test, from which parameters were derived for predicting the operation of a scrubber in steady state conditions. Three main variables were selected for the laboratory experimental program using the factorial design technique. These were load fraction, residence time and rotation speed. The amount of fines was determined through screening both the feed and the product of the scrubbing test. The former was considered to be a characteristic material, while the second was the dependent variable, i.e. the result of the scrubbing process. According to experiments, the load fraction was the most important variable for the scrubbing process.

Copper ore type definition from Sossego Mine using X-ray diffraction and cluster analysis technique

This paper presents the classification of 110 copper ore samples from Sossego Mine, based on X-ray diffraction and cluster analysis. The comparison based on the position and the intensity of the diffracted peaks allowed the distinction of seven ore types, whose differences refer to the proportion of major minerals: quartz, feldspar, actinolite, iron oxides, mica and chlorite. There was a strong correlation between the grouping and the location of the samples in Sequeirinho and Sossego orebodies. This relationship is due to different types and intensities of hydrothermal alteration prevailing in each body, which reflect the mineralogical composition and thus the X-ray diffractograms of samples.

Validação de novo amostrador de furos de desmonte para fins de reconciliação

Mining operations around the world make extensive use of blasthole sampling for short-term planning, which has two undisputed advantages: (1) blastholes are closely spaced providing relatively high sampling density per ton, and (2) there is no additional cost since the blastholes must be drilled anyway. However, blasthole sampling usually presents poor sampling precision, and the inconstant sampling bias caused by particle size and density segregation is an even more serious problem, generally precluding representativeness. One of the main causes of this bias is a highly varying loss of fines, which can lead to both under- and over-estimation of grade depending on the ore type and the gangue. This study validates a new, modified sectorial sampler, designed to reduce the loss of fines and thereby increase sampling accuracy for narrow-diameter blasthole sampling. First results show a significantly improved estimation of gold grade as well as the minimization of the loss of fines.

Sintering and Microwave Properties of Zirconium Tin Titanate Doped with Select Oxides

Zirconium tin titanate (ZST) is often used as a dielectric resonator for the fabrication of microwave devices. Pure compositions do not sinter easily by solid state sintering; therefore, sintering ZST requires sintering aids capable of creating defects that could improve diffusion processes and/or promote liquid phase sintering. The mechanisms by which the additives influence the microstructure and, consequently, the ZSTs dielectric properties are not very clear. The effects of ZnO, Bi2O3, and La2O3, on the stoichiometry and dielectric properties of ZST sintered at different temperatures were investigated in this study.

Realizzazione di riporti funzionalizzanti su superfici ceramiche per la produzione di energia elettrica mediante effetto fotovoltaico

This research, carried out during the PhD in Materials Engineering, deals with the creation of layers, with different functionality, deposited on a ceramic substrate, to obtain photovoltaic cells for electricity production. The research activities are included in the project PRRIITT, Measure 4 (Development of Networks), Action A (Research and Technology Transfer Laboratories), Thematic reference 3 (Advanced materials applications development), co-financed by the Emilia Romagna Region, for the creation of CECERBENCH laboratory, which aims to develop "Tiles with a functionalised surface”. The innovation lies in the study of materials and in the development of technologies to achieve a "photovoltaic surface", directly in the tiles production process. The goal is to preserve the technical characteristics, and to make available new surfaces, exploiting renewable energy sources. The realization of Building Integrated PhotoVoltaic (BIPV) is nowadays a more and more spread tendency. The aims of the research are essentially linked to the need to diversify the actual ceramic tile production (which is strongly present in the Emilia Romagna Region ), and to provide a higher added value to the tiles. Solar energy production is the primary objective of the functionalization, and has a relevant ecological impact, taking into account the overwhelming global energy demand. The specific activities of the PhD were carried out according to the achievement of scientific and technological objectives of CECERBENCH laboratory, and involved the collaboration in design solutions, to obtain the cells directly on the tiles surface. The author has managed personally a part of the research project. Layers with different features were made: - Electrically conductive layers, directly on the ceramic tiles surface; - Layers to obtain the photovoltaic functionality; - Electrically insulating, protective layers (double function). For each layer, the most suitable materials have been selected. Among the technical application, the screen printing was used. This technique, widely used in ceramics, has many application areas, including the electronics and photovoltaic industries. It is an inexpensive technique, easy to use in industrial production lines. The screen printing technique was therefore studied in depth by theoretical considerations, and through the use of rheological measurements.

La caratterizzazione probabilistica del sottosuolo come strumento per l’ottimizzazione della progettazione integrata dei sistemi geotermici

L’utilizzo del reservoir geotermico superficiale a scopi termici / frigoriferi è una tecnica consolidata che permette di sfruttare, tramite appositi “geoscambiatori”, un’energia presente ovunque ed inesauribile, ad un ridotto prezzo in termini di emissioni climalteranti. Pertanto, il pieno sfruttamento di questa risorsa è in linea con gli obiettivi del Protocollo di Kyoto ed è descritto nella Direttiva Europea 2009/28/CE (Comunemente detta: Direttiva Rinnovabili). Considerato il notevole potenziale a fronte di costi sostenibili di installazione ed esercizio, la geotermia superficiale è stata sfruttata già dalla metà del ventesimo secolo in diversi contesti (geografici, geologici e climatici) e per diverse applicazioni (residenziali, commerciali, industriali, infrastrutturali). Ciononostante, solo a partire dagli anni 2000 la comunità scientifica e il mercato si sono realmente interessati ed affacciati all’argomento, a seguito di sopraggiunte condizioni economiche e tecniche. Una semplice ed immediata dimostrazione di ciò si ritrova nel fatto che al 2012 non esiste ancora un chiaro riferimento tecnico condiviso a livello internazionale, né per la progettazione, né per l’installazione, né per il testing delle diverse applicazioni della geotermia superficiale, questo a fronte di una moltitudine di articoli scientifici pubblicati, impianti realizzati ed associazioni di categoria coinvolte nel primo decennio del ventunesimo secolo. Il presente lavoro di ricerca si colloca all’interno di questo quadro. In particolare verranno mostrati i progressi della ricerca svolta all’interno del Dipartimento di Ingegneria Civile, Ambientale e dei Materiali nei settori della progettazione e del testing dei sistemi geotermici, nonché verranno descritte alcune tipologie di geoscambiatori innovative studiate, analizzate e testate nel periodo di ricerca.

Fracture in teeth—a diagnostic for inferring bite force and tooth function

Teeth are brittle and highly susceptible to cracking. We propose that observations of such cracking can be used as a diagnostic tool for predicting bite force and inferring tooth function in living and fossil mammals. Laboratory tests on model tooth structures and extracted human teeth in simulated biting identify the principal fracture modes in enamel. Examination of museum specimens reveals the presence of similar fractures in a wide range of vertebrates, suggesting that cracks extended during ingestion or mastication. The use of ‘fracture mechanics’ from materials engineering provides elegant relations for quantifying critical bite forces in terms of characteristic tooth size and enamel thickness. The role of enamel microstructure in determining how cracks initiate and propagate within the enamel (and beyond) is discussed. The picture emerges of teeth as damage-tolerant structures, full of internal weaknesses and defects and yet able to contain the expansion of seemingly precarious cracks and fissures within the enamel shell. How the findings impact on dietary pressures forms an undercurrent of the study.

Optimización de la densidad de energía en vigas de material compuesto (PRF) sometidas a flexión pura

Las necesidades energéticas actuales requieren el desarrollo de tecnologías eficaces y eficientes en producción, transporte y distribución de energía. Estas necesidades han impulsado nuevos desarrollos en el ámbito energético, entre los cuales se encuentran sistemas de almacenamiento de energía. El avance en ingeniería de materiales permite pensar en la posibilidad de almacenamiento mediante deformación elástica de vigas. Concretamente se parte de un concepto de mecanismo acumulador de energía basado en la deformación elástica de resortes espirales a torsión. Dichos resortes se pueden considerar como elementos vigas sometidos a flexión pura y grandes deflexiones. Esta Tesis de centra en el diseño y optimización de estos elementos con el fin de maximizar la densidad de energía que son capaces de absorber. El proceso de optimización comienza con la identificación del factor crítico del que depende dicho proceso, en este caso de trata de la densidad de energía. Dicho factor depende de la geometría de la sección resistente y del material empleado en su construcción. En los últimos años ha existido un gran desarrollo de los materiales compuestos de tipo polimérico reforzados con fibras (PRF). Estos materiales están sustituyendo gradualmente a otros materiales, como los metales, debido principalmente a su excelente relación entre propiedades mecánicas y peso. Por otro lado, analizando las posibles geometrías para la sección resistente, se observó que la más adecuada es una estructura tipo sándwich. Se implementa así un procedimiento de diseño de vigas sándwich sometidas a flexión pura, con las pieles fabricadas en materiales compuestos tipo PRF y un núcleo que debe garantizar el bajo peso de la estructura. Se desarrolla así un procedimiento sistemático que se puede particularizar dependiendo de los parámetros de entrada de la viga, y que tiene en cuenta y analiza la aparición de todos los posibles modos de fallo posibles. Así mismo se desarrollan una serie de mapas o ábacos de diseño que permiten seleccionar rápidamente las dimensiones preliminares de la viga. Finalmente se llevan a cabo ensayos que permiten, por un lado, validar el concepto del mecanismo acumulador de energía a través del ensayo de un muelle con sección monolítica, y por otro validar los distintos diseños de vigas sándwich propuestos y mostrar el incremento de la densidad de energía con respecto a la alternativa monolítica. Como líneas futuras de investigación se plantean la investigación en nuevos materiales, como la utilización de nanotubos de carbono, y la optimización del mecanismo de absorción de energía; optimizando el mecanismo de absorción a flexión pura e implementando sistemas que permitan acumular energía mediante la deformación elástica debida a esfuerzos de tracción-compresión. ABSTRACT Energy supply requires the development of effective and efficient technologies for the production, transport and distribution of energy. In recent years, many energy storage systems have been developed. Advances in the field of materials engineering has allowed the development of new concepts as the energy storage by elastic deformation of beams. Particularly, in this Thesis an energy storage device based on the elastic deformation of torsional springs has been studied. These springs can be considered as beam elements subjected to pure bending loads and large deflections. This Thesis is focused on the design and optimization of these beam elements in order to maximize its density of stored energy. The optimization process starts with the identification of the critical factors for the elastic energy storage: the density. This factor depends on the geometry of the cross section of the beam and the materials from which it is made. In the last 20 years, major advances in the field of composite materials have been made, particularly in the field of fiber reinforced polymers (FRP). This type of material is substituting gradually metallic materials to their excellent weight-mechanical properties ratio. In the other side, several possible geometries are analyzed for its use in the cross section of the beam; it was concluded that the best option, for maximum energy density, is using a sandwich beam. A design procedure for sandwich beams with skins made up with FRP composites and a light weight core is developed. This procedure can be particularized for different input parameters and it analyzes all the possible failure modes. Abacus and failure mode maps have been developed in order to simplify the design process. Finally several tested was made. Firstly, a prototype of the energy storage system which uses a monolithic composite beam was tested in order to validate the concept of the energy storage by elastic deformation. After that sandwich beam samples are built and tested, validating the design and showing the increase of energy density with respect to the monolithic beam. As futures research lines the following are proposed: research in new materials, as carbon nanotubes; and the optimization of the energy storage mechanism, that means optimizing the pure bending storage mechanism and developing new ones based on traction-compression mechanisms.

Bilingual Polytechnic Dictionary of Metaphors: Spanish to English

This paper provides an overview of an ongoing research project work: “A Polytechnical Bilingual Dictionary of Metaphors: Spanish-English/English-Spanish” done by the UPM consolidated research group “DISCYT” (Estudios Cognitivos del Discurso Científico-Técnico). A detailed explanation of the method adopted to identify key metaphors collected from the different subject areas is included. Drawing from recognized empirical methods (Pragglejaz 2007, Cameron 2007, Steen 2007), the examples have been examined according to the main tenets of conceptual metaphor and conceptual integration theory (Deignan 2005, Gibbs 2008, Lakoff 1993, Lakoff & Johnson 1999, Steen 2007, Fauconnier & Turner 2008). This forthcoming dictionary comprises metaphors of over 10 scientific and technical areas such as Aeronautical engineering, Agronomy, Architecture, Biotechnology, Civil engineering, Geology and Mining, Mechanical engineering, Nanotechnology, Naval and Maritime engineering, Sports and Telecommunications. In this paper, we focus on the study of examples taken from civil engineering, materials engineering and naval engineering. Representative cases are analyzed from several points of view (multimodal metaphor, linguistic information strategies and translation into target language) highlighting cross linguistic variations between Spanish and English.