Efeitos de pontos de contato corporal e orientação segmentar na sensibilidade háptica durante o uso do sistema âncora em tarefas de controle postural

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Dinâmica não linear e projeto de controle em sistemas de transporte vertical: comportamentos periódicos e caóticos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A coupling technique for non-matching finite element meshes

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Simulação numérica do escoamento em difusores radiais com discos frontais fixos e móveis

Pós-graduação em Engenharia Mecânica - FEIS

Iniciação ao estudo da dinâmica de rotação de um satélite em variáves de Andoyer

The dynamics of the rotation of a satellite is an old and classical problem, specially in the Euler formalism. However, with these variables, even in torque free motion problem, the integrability of the system is far from trivial, mainly when the three moments of the inertia are not equal. Another disadvantage occurs when the inclinations between some plans are null or close to zero, so the nodes become undetermined. In this work, we propose the use of modern Andoyer's variables. These are a set of canonical variables and therefore some significant advantages can be obtained when dealing with perturbation methods. On other the hand, the integrability of the torque free motion becomes very clear, as the system is reduced to a problem of one degree of freedom. The elimination of the singularities mentioned above, can be solved very easily, with Pincaré-type variables. In this work we give the background concepts of the Andoyer's variables and the disturbing potential is obtained for the rotational dynamics of a satellite perturbed by a planet. In the case when A = B (moments of inertia) and due to the current variables, the averaged system is trivially obtained through very simple integrations

Dinâmica não linear e controle de um sistema vibratório modelado com memória de forma e, excitado por fontes de energia do tipo ideal e não ideal

Pós-graduação em Engenharia Mecânica - FEB

Sulla progettazione in zona sismica di strutture dotate di dissipatori fluido-viscosi: proposta di una metodologia

CHAPTER 1:FLUID-VISCOUS DAMPERS In this chapter the fluid-viscous dampers are introduced. The first section is focused on the technical characteristics of these devices, their mechanical behavior and the latest evolution of the technology whose they are equipped. In the second section we report the definitions and the guide lines about the design of these devices included in some international codes. In the third section the results of some experimental tests carried out by some authors on the response of these devices to external forces are discussed. On this purpose we report some technical schedules that are usually enclosed to the devices now available on the international market. In the third section we show also some analytic models proposed by various authors, which are able to describe efficiently the physical behavior of the fluid-viscous dampers. In the last section we propose some cases of application of these devices on existing structures and on new-construction structures. We show also some cases in which these devices have been revealed good for aims that lies outside the reduction of seismic actions on the structures. CHAPTER 2:DESIGN METHODS PROPOSED IN LITERATURE In this chapter the more widespread design methods proposed in literature for structures equipped by fluid-viscous dampers are introduced. In the first part the response of sdf systems in the case of harmonic external force is studied, in the last part the response in the case of random external force is discussed. In the first section the equations of motion in the case of an elastic-linear sdf system equipped with a non-linear fluid-viscous damper undergoing a harmonic force are introduced. This differential problem is analytically quite complex and it’s not possible to be solved in a closed form. Therefore some authors have proposed approximate solution methods. The more widespread methods are based on equivalence principles between a non-linear device and an equivalent linear one. Operating in this way it is possible to define an equivalent damping ratio and the problem becomes linear; the solution of the equivalent problem is well-known. In the following section two techniques of linearization, proposed by some authors in literature, are described: the first technique is based on the equivalence of the energy dissipated by the two devices and the second one is based on the equivalence of power consumption. After that we compare these two techniques by studying the response of a sdf system undergoing a harmonic force. By introducing the equivalent damping ratio we can write the equation of motion of the non-linear differential problem in an implicit form, by dividing, as usual, for the mass of the system. In this way, we get a reduction of the number of variables, by introducing the natural frequency of the system. The equation of motion written in this form has two important properties: the response is linear dependent on the amplitude of the external force and the response is dependent on the ratio of the frequency of the external harmonic force and the natural frequency of the system only, and not on their single values. All these considerations, in the last section, are extended to the case of a random external force. CHAPTER 3: DESIGN METHOD PROPOSED In this chapter the theoretical basis of the design method proposed are introduced. The need to propose a new design method for structures equipped with fluid-viscous dampers arises from the observation that the methods reported in literature are always iterative, because the response affects some parameters included in the equation of motion (such as the equivalent damping ratio). In the first section the dimensionless parameterε is introduced. This parameter has been obtained from the definition of equivalent damping ratio. The implicit form of the equation of motion is written by introducing the parameter ε, instead of the equivalent damping ratio. This new implicit equation of motions has not any terms affected by the response, so that once ε is known the response can be evaluated directly. In the second section it is discussed how the parameter ε affects some characteristics of the response: drift, velocity and base shear. All the results described till this point have been obtained by keeping the non-linearity of the behavior of the dampers. In order to get a linear formulation of the problem, that is possible to solve by using the well-known methods of the dynamics of structures, as we did before for the iterative methods by introducing the equivalent damping ratio, it is shown how the equivalent damping ratio can be evaluated from knowing the value of ε. Operating in this way, once the parameter ε is known, it is quite easy to estimate the equivalent damping ratio and to proceed with a classic linear analysis. In the last section it is shown how the parameter ε could be taken as reference for the evaluation of the convenience of using non-linear dampers instead of linear ones on the basis of the type of external force and the characteristics of the system. CHAPTER 4: MULTI-DEGREE OF FREEDOM SYSTEMS In this chapter the design methods of a elastic-linear mdf system equipped with non-linear fluidviscous dampers are introduced. It has already been shown that, in the sdf systems, the response of the structure can be evaluated through the estimation of the equivalent damping ratio (ξsd) assuming the behavior of the structure elastic-linear. We would to mention that some adjusting coefficients, to be applied to the equivalent damping ratio in order to consider the actual behavior of the structure (that is non-linear), have already been proposed in literature; such coefficients are usually expressed in terms of ductility, but their treatment is over the aims of this thesis and we does not go into further. The method usually proposed in literature is based on energy equivalence: even though this procedure has solid theoretical basis, it must necessary include some iterative process, because the expression of the equivalent damping ratio contains a term of the response. This procedure has been introduced primarily by Ramirez, Constantinou et al. in 2000. This procedure is reported in the first section and it is defined “Iterative Method”. Following the guide lines about sdf systems reported in the previous chapters, it is introduced a procedure for the assessment of the parameter ε in the case of mdf systems. Operating in this way the evaluation of the equivalent damping ratio (ξsd) can be done directly without implementing iterative processes. This procedure is defined “Direct Method” and it is reported in the second section. In the third section the two methods are analyzed by studying 4 cases of two moment-resisting steel frames undergoing real accelerogramms: the response of the system calculated by using the two methods is compared with the numerical response obtained from the software called SAP2000-NL, CSI product. In the last section a procedure to create spectra of the equivalent damping ratio, affected by the parameter ε and the natural period of the system for a fixed value of exponent α, starting from the elasticresponse spectra provided by any international code, is introduced.

Nuovo modello cinetostatico della caviglia umana.

The relevance of human joint models has been shown in the literature. They can help in diagnosis, in prostheses and ortheses design and in predicting the joints’ behavior. Recently a sequential approach for the modeling of the human diarthrodial joints composed of three steps has been proposed. At each step the role of some anatomical structures is considered. Starting from a limited number of structures, the model gets more and more sophisticated until all the components, both passive (articular surfaces, ligaments and tendons) and active (muscles), are incorporated in the final model. According to this procedure, the behavior of the human ankle during passive motion (no loads applied) has been previously modeled by a one degree of freedom 5-5 fully parallel mechanism. Starting from this model, the kinetostatic model of the human ankle joint that replicates its behavior when external loads are applied is developed. The anatomical and mechanical characteristics and the role of the passive structures are considered; a multifiber model is developed and an optimization criteria based on experimental data is proposed. Finally an application of the developed model to an amputated ankle is presented, together with the results obtained from the optimization of the geometrical and mechanical Parameters. Although some improvements can be achieved, the model is satisfactorily able to replicate the behavior of the human ankle subject to the anterior drawer and the inversion clinical tests applied in the neutral position.

Synthese und Charakterisierung von Modellen für Photoschalter und elektronische Ventile

Gegenstand der vorliegenden Arbeit war die Synthese von organischen Photoschalter-Modellen auf der Basis von mesoionischen Pyrimidinium-olaten und Bis(thienylperfluorocyclopentenen), sowie die Darstellung substituierter Biphenyl-Biradikale als Modelle für Ventil-Systeme im Sinne eines neuen Schalter-Ventil-Konzeptes.Aufbauend auf meiner Arbeit über mesoionische Pyrimidinium-olate wurde ein henkelverbrücktes Ansa-Mesoion mit einem 16-gliedrigen Makrocyclus, sowie drei mehrcyclische mesoionische Systeme synthetisiert und auf ihr Schaltverhalten hin untersucht. Das Ansa-Mesoion stellt ein erstes einfaches Modell für Schalter-Ventil-Konjugate dar. Zur Darstellung der photochromen Bis(thienylethene) wurden die aus der Literatur bekannten Syntheserouten nach Irie als auch nach Feringa auf neue Strukturen angewandt und die Schalteigenschaften der Bis(thienylethene) optisch nachgewiesen. Die Anordnung der reaktiven Endgruppen in den synthetisierten Verbindungen schafft ideale Voraussetzungen für eine große konformelle Änderung, welche im Schalter-Ventil-Konjugat erwünscht ist. Durch vielfaches Durchlaufen des Schaltprozesses (> 100 Cyclen) konnte die hohe Reversibilität des Schaltvorganges belegt werden.Als Ventilmodelle wurden mit stabilen Nitroxidradikalen substituierte Biphenyle verwendet, deren primärer konformativer Freiheitsgrad durch die Drehung um die Phenyl-Phenyl-Einfachbindung gegeben ist. Experimentelle ESR-Daten und deren Vergleich mit Spektrensimulationen bestätigten die Abhängigkeit der Austauschwechselwirkung J zwischen den Radikalen vom Biphenyldiederwinkel.

Neuartige kryogene Penning-Falle für den Nachweis von Spin-Übergängen eines Protons und Bestimmung seines g-Faktors

In dieser Arbeit wird der Entwurf, der Aufbau, die Inbetriebnahme und die Charakterisierung einer neuartigen Penning-Falle im Rahmen des Experiments zur Bestimmung des g-Faktors des Protons präsentiert. Diese Falle zeichnet sich dadurch aus, dass die Magnetfeldlinien eines äußeren homogenen Magnetfeldes durch eine ferromagnetische Ringelektrode im Zentrum der Falle verzerrt werden. Der inhomogene Anteil des resultierenden Magnetfeldes, die sogenannte magnetische Flasche, lässt sich durch den Koeffizient B2 = 297(10) mT/mm2 des Terms zweiter Ordnung der Ortsabhängigkeit des Feldes quantifizieren. Eine solche ungewöhnlich starke Feldinhomogenität ist Grundvoraussetzung für den Nachweis der Spinausrichtung des Protons mittels des kontinuierlichen Stern-Gerlach-Effektes. Dieser Effekt basiert auf der im inhomogenen Magnetfeld entstehenden Kopplung des Spin-Freiheitsgrades des gefangenen Protons an eine seiner Eigenfrequenzen. Ein Spin-Übergang lässt sich so über einen Frequenzsprung detektieren. Dabei ist die nachzuweisende Änderung der Frequenz proportional zu B2 und zum im Fall des Protons extrem kleinen Verhältnis zwischen seinem magnetischen Moment nund seiner Masse. Die durch die benötigte hohe Inhomogenität des Magnetfeldes bedingten technischen Herausforderungen erfordern eine fundierte Kenntnis und Kontrolle der Eigenschaften der Penning-Falle sowie der experimentellen Bedingungen. Die in der vorliegenden Arbeit entwickelte Penning-Falle ermöglichte den erstmaligen zerstörungsfreien Nachweis von Spin-Quantensprüngen eines einzelnen gefangenen Protons, was einen Durchbruch für das Experiment zur direkten Bestimmung des g-Faktors mit der angestrebten relativen Genauigkeit von 10−9 darstellte. Mithilfe eines statistischen Verfahrens ließen sich die Larmor- und die Zyklotronfrequenz des Protons im inhomogenen Magnetfeld der Falle ermitteln. Daraus wurde der g-Faktor mit einer relativen Genauigkeit von 8,9 × 10−6 bestimmt. Die hier vorgestellten Messverfahren und der experimentelle Aufbau können auf ein äquivalentes Experiment zur Bestimmung des g-Faktors des Antiprotons zum Erreichen der gleichen Messgenauigkeit übertragen werden, womit der erste Schritt auf dem Weg zu einem neuen zwingenden Test der CPT-Symmetrie im baryonischen Sektor gemacht wäre.

Geometry-Aware Multiscale Image Registration via OBBTree-Based Polyaffine Log-Demons

Non-linear image registration is an important tool in many areas of image analysis. For instance, in morphometric studies of a population of brains, free-form deformations between images are analyzed to describe the structural anatomical variability. Such a simple deformation model is justified by the absence of an easy expressible prior about the shape changes. Applying the same algorithms used in brain imaging to orthopedic images might not be optimal due to the difference in the underlying prior on the inter-subject deformations. In particular, using an un-informed deformation prior often leads to local minima far from the expected solution. To improve robustness and promote anatomically meaningful deformations, we propose a locally affine and geometry-aware registration algorithm that automatically adapts to the data. We build upon the log-domain demons algorithm and introduce a new type of OBBTree-based regularization in the registration with a natural multiscale structure. The regularization model is composed of a hierarchy of locally affine transformations via their logarithms. Experiments on mandibles show improved accuracy and robustness when used to initialize the demons, and even similar performance by direct comparison to the demons, with a significantly lower degree of freedom. This closes the gap between polyaffine and non-rigid registration and opens new ways to statistically analyze the registration results.

Control design and genetic algorithm optimization for electrostatic MEMS

This dissertation discusses structural-electrostatic modeling techniques, genetic algorithm based optimization and control design for electrostatic micro devices. First, an alternative modeling technique, the interpolated force model, for electrostatic micro devices is discussed. The method provides improved computational efficiency relative to a benchmark model, as well as improved accuracy for irregular electrode configurations relative to a common approximate model, the parallel plate approximation model. For the configuration most similar to two parallel plates, expected to be the best case scenario for the approximate model, both the parallel plate approximation model and the interpolated force model maintained less than 2.2% error in static deflection compared to the benchmark model. For the configuration expected to be the worst case scenario for the parallel plate approximation model, the interpolated force model maintained less than 2.9% error in static deflection while the parallel plate approximation model is incapable of handling the configuration. Second, genetic algorithm based optimization is shown to improve the design of an electrostatic micro sensor. The design space is enlarged from published design spaces to include the configuration of both sensing and actuation electrodes, material distribution, actuation voltage and other geometric dimensions. For a small population, the design was improved by approximately a factor of 6 over 15 generations to a fitness value of 3.2 fF. For a larger population seeded with the best configurations of the previous optimization, the design was improved by another 7% in 5 generations to a fitness value of 3.0 fF. Third, a learning control algorithm is presented that reduces the closing time of a radiofrequency microelectromechanical systems switch by minimizing bounce while maintaining robustness to fabrication variability. Electrostatic actuation of the plate causes pull-in with high impact velocities, which are difficult to control due to parameter variations from part to part. A single degree-of-freedom model was utilized to design a learning control algorithm that shapes the actuation voltage based on the open/closed state of the switch. Experiments on 3 test switches show that after 5-10 iterations, the learning algorithm lands the switch with an impact velocity not exceeding 0.2 m/s, eliminating bounce.

Simulationsgestütztes Design eines Spritzgieß-Werkzeugeinsatzes mit kontur-angepasster Kühlung

Moderne generische Fertigungsverfahren für innengekühlte Werkzeuge bieten nahezu beliebige Freiheitsgrade zur Gestaltung konturnaher Kühlkanäle. Daraus resultiert ein erhöhter Anspruch an das Werkzeugengineering und die Optimierung der Kühlleistung. Geeignete Simulationsverfahren (wie z.B. Computational Fluid Dynamics - CFD) unterstützen die optimierte Werkzeugauslegung in idealer Weise. Mit der Erstellung virtueller Teststände können Varianten effizient und kostengünstig verglichen und die Kosten für Prototypen und Nacharbeiten reduziert werden. Im Computermodell des Werkzeugs erlauben Soft-Sensoren an beliebiger Position die Überwachung temperatur-kritischer Stellen sowohl im Fluid- als auch im Solidbereich. Der hier durchgeführte Benchmark vergleicht die Performance eines optimierten Werkzeugeinsatzes mit einer konventionellen Kühlung. Die im virtuellen Prozess vorhergesagte Zykluszeitreduzierung steht in guter Übereinstimmung mit realen Experimenten an den ausgeführten Werkzeugen.

Managing Debris Flow Risks

Debris flows represent a widespread threat to villages and small towns in the Swiss Alps. For many centuries people “managed” such risks by trying to avoid hazardous areas. However, major debris flow and flood events in the last 25 years have revealed that the degree of freedom to engage in this type of risk management has substantially decreased. This became especially evident during the 1999 disasters in a number of places in Switzerland. The winter of that year was unusually wet. In February heavy snowfall triggered destructive avalanches. In May high temperatures caused heavy snowmelt, with excessive rainfall contributing more water to the already saturated soils. Landslides, debris flows and floods were triggered in many locations, including Sörenberg. Hazard prevention and disaster management have a long tradition in Switzerland, although an integrated approach to risk management is rather new. Only in recent years have methods and tools been developed to assess hazards, define protection goals, and implement disaster reduction measures. The case of Sörenberg serves as an example of how today's approaches to disaster reduction are implemented at the local level.

Intervertebral Disc Repair using Fleece-Membrane Composite Silk Material and Genipin-enhanced Fibrin Hydrogel

Introduction: Treating low back pain (LBP) has become an increasing challenge, as it is one of the main factors causing pain and is accompanied by high costs for the individual and the society. LBP can be caused by trauma of the intervertebral disc (IVD) or IVD degeneration. In the case of disc herniation the inner gelatinous part of the IVD, called nucleus pulposus, is pressed through the fibrous, annulus fibrosus that forms the outer part of the IVD. Today’s gold standard for treatment is extensive surgery as removal of the IVD and fusion of the vertebrae. In order to find a more gentle way to treat LBP and restore the native IVD we use a novel silk fleece-membrane composite from genetically modified silk worms whose silk contains a growth factor (GDF-6) that is associated with pushing stem cells towards a disc like phenotype (1). By combining it with a genipin-enhanced fibrin hydrogel we tested its suitability in organ culture on prior injured bovine IVD in our custom built two-degree of freedom bioreactor to mimic natural loading conditions. Material & Methods: Bovine IVDs of 12-17 months old animals were isolated by first removing all surrounding tissue followed by cutting out the IVDs as previously described (2). Culturing of discs occurred in high glucose Dulbecco's Modified Eagle Medium (HG-DMEM) supplemented with 5% serum as previously described (2). On the next day injury was induced using a 2mm biopsy punch (Polymed, Switzerland). The formed cavity was filled with (0.4%) genipin-enhanced human based fibrin hydrogel (35-55mg/mL human fibrinogen, Baxter, Austria) and sealed with a silk fleece-membrane composite (Spintec Engineering, Germany). Different culture conditions were applied: free swelling, static diurnal load of 0.2MPa for 8h/d and complex loading at 0.2MPa compression combined with ± 2° torsion at 0.2Hz for 8h/d (2). After 14 days of culture cell activity was determined with resazurin assay. Additionally, glycosaminoglycan (dimethyl-methylene blue), DNA (Hoechst) and collagen content (hydroxy- proline) were determined. Finally, real-time qPCR of major IVD marker and inflammation genes was performed to judge integrity of IVDs. Results: The fibrin hydrogel is able to keep the silk seal in place throughout the 14 days of in organ culture under all conditions. Additionally, cell activity showed optimistic results and we could not confirm negative effects of the repaired discs regarding overexpression of inflammation markers. Conclusions: The genipin-enhanced fibrin hydrogel in combination with the silk fleece- membrane composite seems to be a promising approach for IVD repair. Currently we assess the capability of GDF-6 incorporated in our silk composites on human mesenchymal stem cells and later on in organ culture. References 1. Clarke LE, McConnell JC, Sherratt MJ, Derby B, Richardson SM, Hoyland JA. Growth differentiation factor 6 and transforming growth factor-beta differentially mediate mesenchymal stem cell differentiation, composition and micromechanical properties of nucleus pulposus constructs. Arthritis Res Ther 2014, Mar 12;16(2):R67. 2. Chan SC, Gantenbein-Ritter B. Preparation of intact bovine tail intervertebral discs for organ culture. J Vis Exp 2012, Feb 2;60(60):e3490. Acknowledgements. This work is funded by the Gebert Rüf Foundation, project number GRS-028/13.