Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were carried out. It was demonstrated that the parallel robots are capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably inside the vacuum vessel sector. The kinematic models appeared to be complex especially in the case of the 10-DOF robot because of its redundant structure. Multibody dynamics simulations were carried out, ensuring sufficient stiffness during the robot motion. The entire design and testing processes of the robots appeared to be complex tasks due to the high specialization of the manufacturing technology needed in the ITER reactor, while the results demonstrate the applicability of the proposed solutions quite well. The results offer not only devices but also a methodology for the assembly and repair of ITER by means of parallel robots.

Energian talteenotto liikkuvassa raskaassa työkoneessa

Tämä työ on osa Integrated Serial and Parallel Hybrid Drives in Working Machines projektia. Työssä simuloidaan ja lasketaan energian palautuspotentiaalia raskaassa liikkuvassa työkoneessa. Työn alussa aihetta käsitellään yleisesti kirjallisuuskatsauksen muodossa. Tukkikurottaja valittiin simulointien ja laskennan kohteeksi. Työssä suoritettiin alustavat simuloinnit, joiden tarkoituksena oli varmistua, että palautettavaa energiaa on olemassa. Tulokset osoittavat, että energian palauttaminen on mahdollista. Mittaukset ovat osa työtä. Mitatut muuttujat ovat paineet ja pituudet hydraulisylintereistä, rungon kiihtyvyys, sekä kaikki CAN-väylään kytkettyjen antureiden mittaustiedot. Lopulliset simuloinnit perustuvat mitattuihin työkiertoihin. Työsylintereiden ja ajovoimansiirron tehotarpeet valittiin simulointien tarkasteltaviksi mittaussuureiksi. Mahdollinen palautettavan energian määrä eri työkierroissa on työn lopputulos. Tulokset osoittavat, että palautettavan energian määrä on talteenoton kannalta riittävä.

Thermal Stress in a Roll-to-Roll Printed Electronics Substrate

The Roll-to-Roll process makes it possible to print electronic products continuously onto a uniform substrate. Printing components on flexible surfaces can bring down the costs of simple electronic devices such as RFID tags, antennas and transistors. The possibility of quickly printing flexible electronic components opens up a wide array of novel products previously too expensive to produce on a large scale. Several different printing methods can be used in Roll-to-Roll printing, such as gravure, spray, offset, flexographic and others. Most of the methods can also be mixed in one production line. Most of them still require years of research to reach a significant commercial level. The research for this thesis was carried out at the Konkuk University Flexible Display Research Center (KU-FDRC) in Seoul, Korea. A system using Roll-to-Roll printing requires that the motion of the web can be controlled in every direction in order to align different layers of ink properly. Between printers the ink is dried with hot air. The effects of thermal expansion on the tension of the web are studied in this work, and a mathematical model was constructed on Matlab and Simulink. Simulations and experiments lead to the conclusion that the thermal expansion of the web has a great influence on the tension of the web. Also, experimental evidence was gained that the particular printing machine used for these experiments at KU-FDRC may have a problem in controlling the speeds of the cylinders which pull the web.

Puristussylinterien valmistuksen kehittäminen

Tässä diplomityössä kehitettiin yksitoimisten puristussylinterien valmistusta Rautessa. Sylinterien valmistuksessa haastavin vaihe on sylinteriputken ja pohjan välinen hitsaus. Hitsauksen avuksi suunniteltiin sylinterin sisäpuolinen juuritukilaite. Hitsauskokeita suoritettiin hitsin pohjan jauhekaarihitsaukselle ja MAG-hitsaukselle. Juuritukilaitteen toimivuutta testattiin koehitsauksilla. Puristussylinterien materiaali on S355J2-terästä, jonka ainevahvuus on 20 – 60 mm. Paksujen rakenneterästen hitsauksessa täytyy ottaa huomioon hitsausliitoksen mekaanisten ominaisuuksien muuttuminen sekä eri halkeamien synty. Hitsauksen laatuun ja laadunhallintaan voidaan vaikuttaa monien eri tekijöiden avulla. Hitsausohjeen avulla, ja muut laatutekijät huomioiden, voidaan hitseille asetetut laatukriteerit täyttää. Juurituen käyttö nopeuttaa puristussylinterien hitsausta vähintään 50 %. Jauhekaarihitsaus kuparista juuritukea vasten synnyttää vaikeasti poistettavan kuonan juuren puolelle. Perinteinen MAG-hitsaus kuparista juuritukea vasten sisältää liian monta muuttujaa, mikä tekee siitä epäluotettavan pohjapalon hitsaukseen. Työssä suunnitellun juuritukilaitteen käyttö tuotannossa vaatii lisää hitsauskokeita.

Dynamiikan simulointi poralaitteiden tuotekehityksessä

Diplomityö käsittelee kallioporalaitteen eliniän kuormitusten arviointiin tarkoitetun simulointimallin rakentamista. Työssä luotiin modulaarinen malli, jolla voidaan simuloida dynaamisesti esteen yliajo. Esteen yliajo on perinteinen tehdastesti uusien laitteiden prototyypeille. Sillä pyritään saamaan selville laitteen maksimikuormitustapaukset. Pintaporalaitteen simulointimalli tehtiin ADAMS-ohjelmistolla laitteen suunnittelussa tehtyjä CAD-malleja hyödyntäen. ADAMS-ohjelmistolla mallinnettiin laitteen yksinkertaistettu mekaniikka siten, että laite oli jaettu viiteen eri moduuliin. Runko ja telasto olivat omana osionaan. Puomi ja syöttölaite oli oma kokoonpanonsa ja ohjaamo sekä katteet olivat kaksi erillistä modulia. Viides moduuli oli hydrauliikka, joka simuloitiin rinnakkaissimulointina EASY5-ohjelmistolla. Simuloituja esteen yliajon tuloksia verrattiin prototyyppilaitteen tehdastestien mitattuihin kuormituksiin. Vertailu tehtiin mallinnettujen neljän sylinterin paineita tarkastelemalla. Tuloksia tarkastellessa havaittiin, että simulaatiomalli antaa varsinkin staattisissa tarkasteluissa oikean suuntaisia tuloksia. Dynaamisissa tilanteissa koneen maksimikuormituksilla mallinnustarkkuus ei tämän työn laajuudessa ole riittävä varsinaiseen eliniän analysointiin. Sen sijaan mallinnustekniikka todettiin periaatteessa toimivaksi ja jatkokehityskelpoiseksi.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Ultrasonic and Electrokinetic Remediation of Low Permeability Soil Contaminated with Persistent Organic Pollutants

Electrokinetics has emerged as a potential technique for in situ soil remediation and especially unique because of the ability to work in low permeability soil. In electrokinetic remediation, non-polar contaminants like most organic compounds are transported primarily by electroosmosis, thus the process is effective only if the contaminants are soluble in pore fluid. Therefore, enhancement is needed to improve mobility of these hydrophobic compounds, which tend to adsorb strongly to the soil. On the other hand, as a novel and rapidly growing science, the applications of ultrasound in environmental technology hold a promising future. Compared to conventional methods, ultrasonication can bring several benefits such as environmental friendliness (no toxic chemical are used or produced), low cost, and compact instrumentation. It also can be applied onsite. Ultrasonic energy applied into contaminated soils can increase desorption and mobilization of contaminants and porosity and permeability of soil through developing of cavitation. The research investigated the coupling effect of the combination of these two techniques, electrokinetics and ultrasonication, in persistent organic pollutant removal from contaminated low permeability clayey soil (with kaolin as a model medium). The preliminary study checked feasibility of ultrasonic treatment of kaolin highly contaminated by persistent organic pollutants (POPs). The laboratory experiments were conducted in various conditions (moisture, frequency, power, duration time, initial concentration) to examine the effects of these parameters on the treatment process. Experimental results showed that ultrasonication has a potential to remove POPs, although the removal efficiencies were not high with short duration time. The study also suggested intermittent ultrasonication over longer time as an effective means to increase the removal efficiencies. Then, experiments were conducted to compare the performances among electrokinetic process alone and electrokinetic processes combined with surfactant addition and mainly with ultrasonication, in designed cylinders (with filtercloth separating central part and electrolyte parts) and in open pans. Combined electrokinetic and ultrasonic treatment did prove positive coupling effect compared to each single process alone, though the level of enhancement is not very significant. The assistance of ultrasound in electrokinetic remediation can help reduce POPs from clayey soil by improving the mobility of hydrophobic organic compounds and degrading these contaminants through pyrolysis and oxidation. Ultrasonication also sustains higher current and increases electroosmotic flow. Initial contaminant concentration is an essential input parameter that can affect the removal effectiveness.

Mathematical modeling of electro-rotation spectra of small particles in liquid solutions: Application to human erythrocyte aggregates

Electro-rotation can be used to determine the dielectric properties of cells, as well as to observe dynamic changes in both dielectric and morphological properties. Suspended biological cells and particles respond to alternating-field polarization by moving, deforming or rotating. While in linearly polarized alternating fields the particles are oriented along their axis of highest polarizability, in circularly polarized fields the axis of lowest polarizability aligns perpendicular to the plane of field rotation. Ellipsoidal models for cells are frequently applied, which include, beside sphere-shaped cells, also the limiting cases of rods and disks. Human erythrocyte cells, due to their particular shape, hardly resemble an ellipsoid. The additional effect of rouleaux formation with different numbers of aggregations suggests a model of circular cylinders of variable length. In the present study, the induced dipole moment of short cylinders was calculated and applied to rouleaux of human erythrocytes, which move freely in a suspending conductive medium under the effect of a rotating external field. Electro-rotation torque spectra are calculated for such aggregations of different length. Both the maximum rotation speeds and the peak frequencies of the torque are found to depend clearly on the size of the rouleaux. While the rotation speed grows with rouleaux length, the field frequency nup is lowest for the largest cell aggregations where the torque shows a maximum.

Different stress modalities result in distinct steroid hormone responses by male rats

Since both paradoxical sleep deprivation (PSD) and stress alter male reproductive function, the purpose of the present study was to examine the influence of PSD and other stressors (restraint, electrical footshock, cold and forced swimming, N = 10 per group) on steroid hormones in adult Wistar male rats. Rats were submitted to chronic stress for four days. The stressors (footshock, cold and forced swimming) were applied twice a day, for periods of 1 h at 9:00 and 16:00 h. Restrained animals were maintained in plastic cylinders for 22 h/day whereas PSD was continuous. Hormone determination was measured by chemiluminescent enzyme immunoassay (testosterone), competitive immunoassay (progesterone) and by radioimmunoassay (corticosterone, estradiol, estrone). The findings indicate that PSD (13.7 ng/dl), footshock (31.7 ng/dl) and cold (35.2 ng/dl) led to lower testosterone levels compared to the swimming (370.4 ng/dl) and control (371.4 ng/dl) groups. However, progesterone levels were elevated in the footshock (4.5 ng/ml) and PSD (5.4 ng/ml) groups compared to control (1.6 ng/ml), swimming (1.1 ng/ml), cold (2.3 ng/ml), and restrained (1.2 ng/ml) animals. Estrone and estradiol levels were reduced in the PSD, footshock and restraint groups compared to the control, swimming and cold groups. A significant increase in corticosterone levels was found only in the PSD (299.8 ng/ml) and footshock (169.6 ng/ml) groups. These changes may be thought to be the full steroidal response to stress of significant intensity. Thus, the data suggest that different stress modalities result in distinct steroid hormone responses, with PSD and footshock being the most similar.

Quality evaluation of fresh-cut ‘Pérola’ pineapple stored in controlled atmosphere

The purpose of this research was to determine the best gas mixture in controlled atmosphere conditions to store fresh-cut ‘Pérola’ pineapple, particularly in relation to the maintenance of visual quality and reduction of microbial growth. After sanitation, fruit was manually peeled, sliced and dipped in 20 mg.L-1 NaOCl solution for 30 seconds. Then, the excess liquid was drained and the slices were placed in sealed glass jars connected to a flowboard installed in a cold room (5 ± 1 °C). Desired gas mixtures were supplied continuously for 12 days from cylinders connected to the flowboard. Controlled atmospheres of 2:5, 2:10, 2:15, 5:5, 5:10, 5:15, 8:5, 8:10 and 8:15 (O2:CO2, %) and air were used. The product was evaluated for pulp color, total and fecal coliforms, mesophilic and psychrotrophic aerobic, mold and yeast counts. Total and fecal coliforms were not detected. The fresh-cut ‘Pérola’ pineapple was not very sensitive to storage in controlled atmosphere, considering that the slices had little browning and were free of contamination, that would affect the food safety at the end of the storage period

Johns-Manville (Canada) records, 1949-1977 (non-inclusive).

The Johns-Manville Company was founded in 1901with the merging of the H.W. Johns Manufacturing Company and the Manville Covering Company. Both companies made building materials using asbestos. The new company was based in New York, New York, and made products such as insulation and roofing materials, automotive sheet packing for cylinders, asbestos/cement, acoustical and magnesia products. Significant restructuring has occurred over the years as the company shifted from production of asbestos products to other types of building materials, such as fibre glass and forest products. Since 2001, the Johns-Manville Company has been owned by Berkshire Hathaway. The company began operations in Canada in 1918 in Asbestos, Quebec, where the Jeffrey Asbestos Mine was located. A Canadian plant opened in Port Union, Scarborough Township, in 1956, and another in North Bay, Ontario, in 1957. Both of these plants have since closed. The company currently has two plants in Canada, in Innisfail, Alberta, and Cornwall, Ontario.

Identification de composés naturels contre Saprolegnia sp., un champignon pathogène en aquaculture

La saprolégniose est une maladie fongique causée par le champignon aquatique Saprolegnia sp. qui affecte les poissons sauvages et ceux provenant des piscicultures. L’apparition de touffes cotonneuses semblables à de la ouate de couleur blanche à grise est souvent la première indication de l’infection. Ce saprophyte ubiquitaire se nourrit habituellement des œufs de poissons morts, mais peut se propager rapidement aux œufs sains causant la mort de ces derniers. La saprolégniose est souvent une infection secondaire, mais des souches virulentes peuvent facilement se développer sur les salmonidés ayant subi un stress ou une mauvaise manipulation. De grandes pertes économiques associées à la saprolégniose sont rapportées chaque année à travers le monde surtout dans l’industrie de la pisciculture. Jusqu’en 2002, le contrôle de la saprolégniose pouvait se faire par l’utilisation du vert de malachite, un colorant organique ayant une grande activité antifongique. Malheureusement, cette molécule a été bannie à cause de ses propriétés cancérigènes. Aucun composé aussi efficace n’est actuellement disponible pour traiter les infections de la saprolégniose. Des molécules ou extraits naturels ayant un potentiel antifongique ont donc été testés à l’aide de deux techniques (par graines de chanvre et par cylindre d’agar). Les molécules d’un extrait de propolis (cire de ruches d’abeilles) démontrant de l’activité anti-Saprolegnia ont été identifiées. De plus, une bactérie, Pseudomonas aeruginosa, pouvant être retrouvée dans le même environnement que Saprolegnia sp. a démontré un effet antagoniste au champignon. Une molécule de signalisation intercellulaire produite par P. aeruginosa, 4-hydroxy-2-heptylquinoline (HHQ), a été identifiée comme responsable de l’effet antagoniste contre Saprolegnia sp.

Films minces supramoléculaires de copolymères de PS-P4VP réalisés par trempage

Bien que ce soit un procédé industriel répandu, les films de copolymères à blocs préparés par trempage (« dip-coating ») sont moins étudiés que ceux obtenus par tournette (« spin-coating »). Pourtant, il est possible grâce à cette technique de contrôler précisément les caractéristiques de ces films. Au-delà de la méthode de fabrication, la capacité de modifier la morphologie des films trempés à l’aide d’autres facteurs externes est un enjeu primordial pour leur utilisation dans les nanotechnologies. Nous avons choisi, ici, d’étudier l’influence d’une petite molécule sur la morphologie de films supramoléculaires réalisés par « dip-coating » à partir de solutions de poly(styrène-b-4-vinyl pyridine) (PS-P4VP) dans le tétrahydrofurane (THF). En présence de 1-naphtol (NOH) et d’1-acide napthoïque (NCOOH), qui se complexent par pont hydrogène au bloc P4VP, ces films donnent, respectivement, une morphologie en nodules (sphères) et en stries (cylindres horizontaux). Des études par spectroscopie infrarouge ont permis de mesurer la quantité de petite molécule dans ces films minces, qui varie avec la vitesse de retrait mais qui s’avère être identique pour les deux petites molécules, à une vitesse de retrait donnée. Cependant, des études thermiques ont montré qu’une faible fraction de petite molécule est dispersée dans le PS (davantage de NOH que de NCOOH à cause de la plus faible liaison hydrogène du premier). La vitesse de retrait est un paramètre clé permettant de contrôler à la fois l’épaisseur et la composition du film supramoléculaire. L’évolution de l’épaisseur peut être modélisée par deux régimes récemment découverts. Aux faibles vitesses, l’épaisseur décroît (régime de capillarité), atteint un minimum, puis augmente aux vitesses plus élevées (régime de drainage). La quantité de petite molécule augmente aux faibles vitesses pour atteindre un plateau correspondant à la composition de la solution aux vitesses les plus élevées. Des changements de morphologie, à la fois liés à l’épaisseur et à la quantité de petite molécule, sont alors observés lorsque la vitesse de retrait est modifiée. Le choix du solvant est aussi primordial dans le procédé de « dip-coating » et a été étudié en utilisant le chloroforme, qui est un bon solvant pour les deux blocs. Il s’avère qu’à la fois la composition ainsi que la morphologie des films de PS-P4VP complexés sont différentes par rapport aux expériences réalisées dans le THF. Premièrement, la quantité de petite molécule reste constante avec la vitesse de retrait mais les films sont plus riches en NCOOH qu’en NOH. Deuxièmement, la morphologie des films contenant du NOH présente des stries ainsi que des lamelles à plat, tandis que seules ces dernières sont observables pour le NCOOH. Ce comportement est essentiellement dû à la quantité différente de petite molécule modulée par leur force de complexation différente avec le P4VP dans le chloroforme. Enfin, ces films ont été utilisés pour l’adsorption contrôlée de nanoparticules d’or afin de guider leur organisation sur des surfaces recouvertes de PS-P4VP. Avant de servir comme gabarits, un recuit en vapeurs de solvant permet soit d’améliorer l’ordre à longue distance des nodules de P4VP, soit de modifier la morphologie des films selon le solvant utilisé (THF ou chloroforme). Ils peuvent être ensuite exposés à une solution de nanoparticules d’or de 15 nm de diamètre qui permet leur adsorption sélective sur les nodules (ou stries) de P4VP.

A computational fluid dynamic study on the filtering mechanics in suspension feeding marine invertebrates

Les suspensivores ont la tâche importante de séparer les particules de l'eau. Bien qu'une grande gamme de morphologies existe pour les structures d'alimentation, elles sont pratiquement toutes constituées de rangées de cylindres qui interagissent avec leur environnement fluide. Le mécanisme de capture des particules utilisé dépend des contraintes morphologiques, des besoins énergétiques et des conditions d'écoulement. Comme nos objectifs étaient de comprendre ces relations, nous avons eu recours à des études de comparaison pour interpréter les tendances en nature et pour comprendre les conditions qui provoquent de nouveaux fonctionnements. Nous avons utilisé la dynamique des fluides numérique (computational fluid dynamics, CFD) pour créer des expériences contrôlées et pour simplifier les analyses. Notre première étude démontre que les coûts énergétiques associés au pompage dans les espaces petits sont élevés. De plus, le CFD suggère que les fentes branchiales des ptérobranches sont des structures rudimentaires, d'un ancêtre plus grande. Ce dernier point confirme l'hypothèse qu'un ver se nourrit par filtration tel que l'ancêtre des deuterostomes. Notre deuxième étude détermine la gamme du nombre de Reynolds number critique où la performance d'un filtre de balane change. Quand le Re est très bas, les différences morphologiques n'ont pas un grand effet sur le fonctionnement. Cependant, une pagaie devient une passoire lorsque le Re se trouve entre 1 et 3,5. Le CFD s’est dévoilé être un outil très utile qui a permis d’obtenir des détails sur les microfluides. Ces études montrent comment la morphologie et les dynamiques des fluides interagissent avec la mécanisme de capture ou de structures utilisées, ainsi que comment des petits changements de taille, de forme, ou de vitesse d'écoulement peuvent conduire à un nouveau fonctionnement.

Strategies for Inverse Profiling of Two Dimensional Dielectric Scatterers Using Electromagnetic Illumination

Electromagnetic tomography has been applied to problems in nondestructive evolution, ground-penetrating radar, synthetic aperture radar, target identification, electrical well logging, medical imaging etc. The problem of electromagnetic tomography involves the estimation of cross sectional distribution dielectric permittivity, conductivity etc based on measurement of the scattered fields. The inverse scattering problem of electromagnetic imaging is highly non linear and ill posed, and is liable to get trapped in local minima. The iterative solution techniques employed for computing the inverse scattering problem of electromagnetic imaging are highly computation intensive. Thus the solution to electromagnetic imaging problem is beset with convergence and computational issues. The attempt of this thesis is to develop methods suitable for improving the convergence and reduce the total computations for tomographic imaging of two dimensional dielectric cylinders illuminated by TM polarized waves, where the scattering problem is defmed using scalar equations. A multi resolution frequency hopping approach was proposed as opposed to the conventional frequency hopping approach employed to image large inhomogeneous scatterers. The strategy was tested on both synthetic and experimental data and gave results that were better localized and also accelerated the iterative procedure employed for the imaging. A Degree of Symmetry formulation was introduced to locate the scatterer in the investigation domain when the scatterer cross section was circular. The investigation domain could thus be reduced which reduced the degrees of freedom of the inverse scattering process. Thus the entire measured scattered data was available for the optimization of fewer numbers of pixels. This resulted in better and more robust reconstructions of the scatterer cross sectional profile. The Degree of Symmetry formulation could also be applied to the practical problem of limited angle tomography, as in the case of a buried pipeline, where the ill posedness is much larger. The formulation was also tested using experimental data generated from an experimental setup that was designed. The experimental results confirmed the practical applicability of the formulation.