Microfabricated elastomer tactile sensors for robotic fingertip systems

Tactile sensing is an important aspect of robotic systems, and enables safe, dexterous robot-environment interaction. The design and implementation of tactile sensors on robots has been a topic of research over the past 30 years, and current challenges include mechanically flexible “sensing skins”, high dynamic range (DR) sensing (i.e.: high force range and fine force resolution), multi-axis sensing, and integration between the sensors and robot. This dissertation focuses on addressing some of these challenges through a novel manufacturing process that incorporates conductive and dielectric elastomers in a reusable, multilength-scale mold, and new sensor designs for multi-axis sensing that improve force range without sacrificing resolution. A single taxel was integrated into a 1 degree of freedom robotic gripper for closed-loop slip detection. Manufacturing involved casting a composite silicone rubber, polydimethylsiloxane (PDMS) filled with conductive particles such as carbon nanotubes, into a mold to produce microscale flexible features on the order of 10s of microns. Molds were produced via microfabrication of silicon wafers, but were limited in sensing area and were costly. An improved technique was developed that produced molds of acrylic using a computer numerical controlled (CNC) milling machine. This maintained the ability to produce microscale features, and increased the sensing area while reducing costs. New sensing skins had features as small as 20 microns over an area as large as a human hand. Sensor architectures capable of sensing both shear and normal force sensing with high dynamic range were produced. Using this architecture, two sensing modalities were developed: a capacitive approach and a contact resistive approach. The capacitive approach demonstrated better dynamic range, while the contact resistive approach used simpler circuitry. Using the contact resistive approach, normal force range and resolution were 8,000 mN and 1,000 mN, respectively, and shear force range and resolution were 450 mN and 100 mN, respectively. Using the capacitive approach, normal force range and resolution were 10,000 mN and 100 mN, respectively, and shear force range and resolution were 1,500 mN and 50 mN, respectively.

Influence of autogenous shrinkage on mass transport properties of concrete

La retracción autógena en el hormigón es el cambio volumétrico una vez iniciado su proceso de fraguado. Se desarrolla a edades muy tempranas debido a la retracción química y a la autodesecación. Éstos causan microfisuras en hormigones de alta resistencia y permiten el ingreso de agentes nocivos como dióxido de carbono, cloruros y sulfatos que deterioran al hormigón. A pesar de haber estudios de la retracción autógena, existe incertidumbre sobre su influencia en la durabilidad del hormigón. Por ello, el motivo del presente estudio es cuantificar y analizar el efecto de la retracción autógena en el hormigón usando tres pruebas de transporte: difusión de oxígeno, permeabilidad de oxígeno y absorción de agua. Dos métodos, para tres diferentes aglutinantes, fueron usados para determinar la mezcla control que produce menor retracción: utilizando SRA y realizando el curado en un cuarto de niebla. Posteriormente, los resultados de las pruebas de transporte entre la mezcla de control seleccionada y mezclas altamente afectadas por retracción autógena fueron comparados para diferentes aglutinantes. Resultados revelaron que muestras con SRA presentan menores retracciones autógenas y se sugiere que estas muestras sean consideradas de control. Se demostró que la retracción autógena afecta significativamente los coeficientes de transporte los cuales en un punto de vista de servicio pueden reducir la vida útil de cualquier estructura realizada con hormigón de alta resistencia. Esta investigación además confirmó que la mayor deformación autógena ocurre durante las dos primeras semanas; por lo tanto, se debe tomar cuidado suficiente en el curado.

Bioadhesive drug delivery system of diltiazem hydrochloride for improved bioavailability in cardiac therapy

Purpose: To prepare and evaluate bioadhesive buccal films of diltiazem hydrochloride (a L-type calcium channel blocker) for overcoming the limitations of frequent dosing, low bioavailability and gastrointestinal discomfort of oral delivery. Methods: Buccal films were prepared by solvent casting technique using sodium carboxymethylcellulose, polyvinyl pyrrolidone K-30 and polyvinyl alcohol. The films were evaluated for weight, thickness, surface pH, swelling index, in vitro residence time, folding endurance, in vitro release, ex-vivo permeation (across porcine buccal mucosa) and drug content uniformity. Results: The drug content of the formulations was uniform with a range of 18.94 ± 0.066 (F2) to 20.08 ± 0.07 mg per unit film (F1). The films exhibited controlled release ranging from 58.76 ± 1.62 to 91.45 ± 1.02 % over a period > 6 h. The films containing 20 mg diltiazem hydrochloride, polyvinyl alcohol (10 %) and polyvinyl pyrrolidone (1 % w/v) i.e. formulation F5, showed moderate swelling, convenient residence time and promising drug release, and thus can be selected for further development of a buccal film for potential therapeutic uses. Conclusion: The developed formulation is a potential bioadhesive buccal system for delivering diltiazem directly to systemic circulation, circumventing first-pass metabolism, avoiding gastric discomfort and improving bioavailability at a minimal dose.

Filmes formados pelo copolímero SEBS e nanopartículas de óxidos de ferro : preparação e caracterização

Dissertação (mestrado)—Universidade de Brasília, Instituto de Física, Programa de Pós-Graduação em Física, 2016.

Modelling and simulations of ductile iron solidification-induced variations in mechanical behaviour on component and microstructural level

The mechanical behaviour and performance of a ductile iron component is highly dependent on the local variations in solidification conditions during the casting process. Here we show a framework which combine a previously developed closed chain of simulations for cast components with a micro-scale Finite Element Method (FEM) simulation of the behaviour and performance of the microstructure. A casting process simulation, including modelling of solidification and mechanical material characterization, provides the basis for a macro-scale FEM analysis of the component. A critical region is identified to which the micro-scale FEM simulation of a representative microstructure, generated using X-ray tomography, is applied. The mechanical behaviour of the different microstructural phases are determined using a surrogate model based optimisation routine and experimental data. It is discussed that the approach enables a link between solidification- and microstructure-models and simulations of as well component as microstructural behaviour, and can contribute with new understanding regarding the behaviour and performance of different microstructural phases and morphologies in industrial ductile iron components in service.

Characterisation and investigation of local variations in mechanical behaviour in cast aluminium using gradient solidification, Digital Image Correlation and finite element simulation

Due to design and process-related factors, there are local variations in the microstructure and mechanical behaviour of cast components. This work establishes a Digital Image Correlation (DIC) based method for characterisation and investigation of the effects of such local variations on the behaviour of a high pressure, die cast (HPDC) aluminium alloy. Plastic behaviour is studied using gradient solidified samples and characterisation models for the parameters of the Hollomon equation are developed, based on microstructural refinement. Samples with controlled microstructural variations are produced and the observed DIC strain field is compared with Finite Element Method (FEM) simulation results. The results show that the DIC based method can be applied to characterise local mechanical behaviour with high accuracy. The microstructural variations are observed to cause a redistribution of strain during tensile loading. This redistribution of strain can be predicted in the FEM simulation by incorporating local mechanical behaviour using the developed characterization model. A homogeneous FEM simulation is unable to predict the observed behaviour. The results motivate the application of a previously proposed simulation strategy, which is able to predict and incorporate local variations in mechanical behaviour into FEM simulations already in the design process for cast components.

Determination of the columnar to equiaxed transition in hypoeutectic lamellar cast iron

Shrinkage porosity as a volume change related casting defect in lamellar cast iron was reported in theliterature to form during solidification in connection to the dendrite coherency. The present work includesan experimental study on dendrite coherency – also called columnar-to-equiaxed transition in lamellar castiron using thermal analysis and expansion force measurements. Investigation was carried out in order tostudy the mechanism of dendrite coherency formation. Cylindrical test bars were cast from the same alloywith different pouring temperature, amount of inoculant and time between the addition of inoculant andstart of pouring the samples. Cooling rate and expansion force was recorded as a function of time. Anumerical algorithm based on temperature differences measured under solidification was used to inter-pret the solidification process. Three different methods have been compared to determine the columnarto equiaxed transition. The compared methods were based on registered temperature differences, basedon registered expansion forces during the volume change of the solidifying samples and based on the cal-culated released latent heat of crystallization. The obtained results indicate a considerable influence on theformation and progress of coherency due to variation of casting parameters. It has been shown that thecoherency is not a single event at a defined time moment rather a process progressing during a timeinterval.

Ethos and Ideology of Knowledge Organization: Toward Precepts for anEngaged Knowledge Organization

This paper provides rationale for considering precepts for an engaged knowledge organization based on a Buddhist conception of intentional action. Casting knowledge organization work as craft, this paper employs Žižek’s conception of vio- lence in language as a call to action. The paper closes with a listing of precepts for an engaged knowledge organization.

Développement d’un dispositif d’extrusion tridimensionnelle de sucre vitrifié pour la production de réseaux fluidiques complexes par moulage rapide

L’objectif du vaste projet de recherche dans lequel s’inscrit ce mémoire est de guérir le diabète de type 1 en fabriquant un pancréas bioartificiel vascularisé contenant des cellules bêta (i.e. les cellules sécrétant l’insuline). Ce dispositif permettrait de rendre aux personnes atteintes par le diabète de type 1 la capacité de sécréter par elles-mêmes de l’insuline et de réguler leur glycémie. La vascularisation est actuellement un enjeu de taille dans le domaine du génie tissulaire. La plupart des tissus incorporant des cellules générées par le génie tissulaire sont actuellement fortement limités en épaisseur faute d’être vascularisés adéquatement. Pour les tissus dont l’épaisseur dépasse 400 μm, la vascularisation est nécessaire à la survie de la plupart des cellules qui autrement souffriraient d’hypoxie, les empêchant ainsi d’accomplir leurs fonctions [1]. Ce mémoire présente le développement et la mise en service d’un dispositif d’extrusion tridimensionnelle de sucre vitrifié pour la vascularisation d’un pancréas bioartificiel. Ce dispositif a été développé au laboratoire de recherche sur les procédés d’impression 3D ainsi qu’au bureau de design du département de génie mécanique de l’Université Laval. Grâce à cette technique d’impression 3D novatrice et à la caractérisation du procédé, il est maintenant possible de produire rapidement et avec précision des structures temporaires en sucre vitrifié pour la fabrication de réseaux vasculaires tridimensionnels complexes. Les structures temporaires peuvent, après leur production, être utilisées pour réaliser le moulage rapide de constructions vascularisées avec des matériaux tels que du polydiméthylsiloxane (PDMS) ou des hydrogels chargés de cellules biologiques. De par la nature du matériel utilisé, les moules temporaires peuvent être facilement et rapidement dissous dans une solution aqueuse et laisser place à un réseau de canaux creux sans créer de rejets toxiques, ce qui représente un avantage majeur dans un contexte de bio-ingénierie.

Numerical simulation of fresh SCC flow in wall and beam elements using flow dynamics models

Abstract : Recently, there is a great interest to study the flow characteristics of suspensions in different environmental and industrial applications, such as snow avalanches, debris flows, hydrotransport systems, and material casting processes. Regarding rheological aspects, the majority of these suspensions, such as fresh concrete, behave mostly as non-Newtonian fluids. Concrete is the most widely used construction material in the world. Due to the limitations that exist in terms of workability and formwork filling abilities of normal concrete, a new class of concrete that is able to flow under its own weight, especially through narrow gaps in the congested areas of the formwork was developed. Accordingly, self-consolidating concrete (SCC) is a novel construction material that is gaining market acceptance in various applications. Higher fluidity characteristics of SCC enable it to be used in a number of special applications, such as densely reinforced sections. However, higher flowability of SCC makes it more sensitive to segregation of coarse particles during flow (i.e., dynamic segregation) and thereafter at rest (i.e., static segregation). Dynamic segregation can increase when SCC flows over a long distance or in the presence of obstacles. Therefore, there is always a need to establish a trade-off between the flowability, passing ability, and stability properties of SCC suspensions. This should be taken into consideration to design the casting process and the mixture proportioning of SCC. This is called “workability design” of SCC. An efficient and non-expensive workability design approach consists of the prediction and optimization of the workability of the concrete mixtures for the selected construction processes, such as transportation, pumping, casting, compaction, and finishing. Indeed, the mixture proportioning of SCC should ensure the construction quality demands, such as demanded levels of flowability, passing ability, filling ability, and stability (dynamic and static). This is necessary to develop some theoretical tools to assess under what conditions the construction quality demands are satisfied. Accordingly, this thesis is dedicated to carry out analytical and numerical simulations to predict flow performance of SCC under different casting processes, such as pumping and tremie applications, or casting using buckets. The L-Box and T-Box set-ups can evaluate flow performance properties of SCC (e.g., flowability, passing ability, filling ability, shear-induced and gravitational dynamic segregation) in casting process of wall and beam elements. The specific objective of the study consists of relating numerical results of flow simulation of SCC in L-Box and T-Box test set-ups, reported in this thesis, to the flow performance properties of SCC during casting. Accordingly, the SCC is modeled as a heterogeneous material. Furthermore, an analytical model is proposed to predict flow performance of SCC in L-Box set-up using the Dam Break Theory. On the other hand, results of the numerical simulation of SCC casting in a reinforced beam are verified by experimental free surface profiles. The results of numerical simulations of SCC casting (modeled as a single homogeneous fluid), are used to determine the critical zones corresponding to the higher risks of segregation and blocking. The effects of rheological parameters, density, particle contents, distribution of reinforcing bars, and particle-bar interactions on flow performance of SCC are evaluated using CFD simulations of SCC flow in L-Box and T-box test set-ups (modeled as a heterogeneous material). Two new approaches are proposed to classify the SCC mixtures based on filling ability and performability properties, as a contribution of flowability, passing ability, and dynamic stability of SCC.

Sviluppo e caratterizzazione microstrutturale e meccanica di leghe innovative di magnesio

Le attività di ricerca svolte nel corso del dottorato di ricerca, sono state focalizzate principalmente sullo studio dell’evoluzione microstrutturale, delle proprietà meccaniche e tribologiche di una particolare lega da fonderia, EV31A, con alte percentuali di terre rare (Nd e Gd > 4% in peso). Le analisi microstrutturali sono state eseguite tramite microscopia ottica (OM), elettronica in scansione (SEM) ed elettronica in trasmissione (TEM), mentre le proprietà meccaniche sono state determinate attraverso prove di trazione e prove di fatica a flessione rotante. Al fine di incrementare le proprietà tribologiche delle leghe di magnesio è stata valutata l’efficacia del trattamento PEO sia sulla lega EV31A, sia sulle più comuni leghe AZ80 e AZ91D, effettuando test tribologici in modalità pattino su cilindro (Block on Ring). Infine è stato condotto uno studio sull’efficacia del trattamento di fusione superficiale laser (LSM), analizzandone gli effetti sia sull’evoluzione microstrutturale, sia sulle proprietà meccaniche e sulla resistenza a corrosione. Le attività svolte nel corso del dottorato di ricerca sono state svolte presso il Dipartimento di Ingegneria Industriale DIN della Scuola di Ingegneria e Architettura dell’Università di Bologna sotto la supervisione della Prof. ssa Lorella Ceschini.

Ottimizzazione di materiali e trattamenti per componenti critici destinati a motociclette da competizione

L’attività svolta durante il dottorato è stata incentrata su due tematiche riguardanti: (i) la modifica della composizione chimica delle classiche leghe di alluminio da fonderia per incrementarne la resistenza e stabilità termica; (ii) lo studio del comportamento a fatica di acciai innovativi alto-resistenziali, allo scopo di valutarne il loro utilizzo per la produzione di alberi motore e distribuzione in sostituzione dei tradizionali acciai utilizzati dopo bonifica e trattamento superficiale di nitrurazione. La messa a punto di una lega di alluminio da fonderia con elevata resistenza in temperatura ha richiesto, oltre all’individuazione della composizione chimica, l’ottimizzazione del trattamento termico e una completa caratterizzazione meccanica statica a fatica sia a temperatura ambiente sia a 200°C. L’attività ha permesso di sviluppare una lega, ottenuta aggiungendo 1,3% in peso di rame alla classica lega A357 (Al-Si-Mg), cha ha mostrato avere proprietà meccaniche superiori a quelle delle tradizionali leghe Al-Si-Mg-Cu quali la A354 e C355 sia a temperatura ambiente che a 200 °C dopo lunga esposizione in temperatura. Per quanto riguarda gli acciai innovativi, dopo una preliminare analisi di mercato per individuare quali acciai potessero essere oggetto di studio, è stato valutato come migliorarne le prestazioni a fatica, anche in presenza d’intaglio, attraverso la scelta del trattamento termico più opportuno e del processo di pallinatura. I risultati delle caratterizzazioni microstrutturale e meccanica svolte hanno permesso di individuare due acciai (nomi commerciali K890 e ASP2017) ottenuti per metallurgia delle polveri, ad oggi utilizzati solo per la produzione di stampi e/o utensili, in grado di sostituire gli acciai con cui vengono oggi realizzati i componenti, senza la necessità di eseguire il trattamento di nitrurazione

Analysis of the main phenomena affecting solid rocket motors internal ballistics

In solid rocket motors, the absence of combustion controllability and the large amount of financial resources involved in full-scale firing tests, increase the importance of numerical simulations in order to asses stringent mission thrust requirements and evaluate the influence of thrust chamber phenomena affecting the grain combustion. Among those phenomena, grain local defects (propellant casting inclusions and debondings), combustion heat accumulation involving pressure peaks (Friedman Curl effect), and case-insulating thermal protection material ablation affect thrust prediction in terms of not negligible deviations with respect to the nominal expected trace. Most of the recent models have proposed a simplified treatment to the problem using empirical corrective functions, with the disadvantages of not fully understanding the physical dynamics and thus of not obtaining predictive results for different configurations of solid rocket motors in a boundary conditions-varied scenario. This work is aimed to introduce different mathematical approaches to model, analyze, and predict the abovementioned phenomena, presenting a detailed physical interpretation based on existing SRMs configurations. Internal ballistics predictions are obtained with an in-house simulation software, where the adoption of a dynamic three-dimensional triangular mesh together with advanced computer graphics methods, allows the previous target to be reached. Numerical procedures are explained in detail. Simulation results are carried out and discussed based on experimental data.

Adsorbimento dinamico di CO2 in compositi innovativi a base geopolimerica

Fra le alternative proposte per la riduzione delle emissioni di CO2, le tecniche di Carbon Capture si presentano come un’efficace soluzione per il breve e medio termine. Fra queste, l’adsorbimento su fase solida per la rimozione di CO2 da correnti gassose si prospetta come una valida alternativa rispetto al convenzionale assorbimento ad umido. Questo lavoro di tesi si è occupato della sintesi di un composito a base geopolimerica presso l’ISTEC/CNR di Faenza, da impiegare per l’adsorbimento di CO2 a bassa temperatura, e dell’analisi del suo comportamento in regime di adsorbimento dinamico. Tale materiale è stato sintetizzato tramite attivazione con soluzione alcalina di metacaolino 1200S addizionato con polveri di zeolite Na13X. Esso costituisce una opzione interessante per la cattura di CO2, mostrando capacità di adsorbimento superiori a 1 mmol/g per concentrazioni di CO2 del 14% (a pressione atmosferica), simili a quelle presenti in molti processi industriali. Le prestazioni in regime dinamico risultano inoltre simili a quelle registrate nel regime statico. Le prove sperimentali hanno evidenziato la criticità della rigenerazione del materiale, in particolare riguardo all’eliminazione dell’acqua. Una temperatura di 130°C si mostra adatta per ottenere un’elevata rigenerazione del materiale, con rimozione sia di CO2 che dell’umidità adsorbita. Dalle prove svolte è risultato evidente come non sia conveniente operare con desorbimenti a temperatura ambiente e pressione atmosferica, ma sia necessario operare combinando swing di pressione e temperatura. È stato inoltre valutato l’effetto di una più bassa temperatura di adsorbimento (2°C), che porta ad un aumento della capacità del materiale. Sviluppi futuri in questo campo potrebbero essere la produzione di monoliti geopolimerici a porosità strutturate tramite tecniche innovative quali il freeze-casting e l’utilizzo di compositi integrati con additivi che ne migliorino le performance in termini di conducibilità termica.