Energy dissipation in depth-sensing indentation as a characteristic of the nanoscratch behavior of coatings

Wear behavior of coatings has usually been described in terms of mechanical properties such as hardness (H) and effective elastic modulus (E*). Alternatively, an energy approach appears as a promising analysis taking into account the influence of those properties. In a nanoindentation test, the dissipated energy depends not only on the hardness and elastic modulus, but also on the elastic recovery (W(e)). This work aims to establish a relation between plastic deformation energy (E(p)) during depth-sensing indentation method and the grooving resistance of coatings in nanoscratch tests. An energy dissipation coefficient (K(d)) was defined, calculated as the ratio of the plastic to the total deformation energy (E(p)/E(t)), which represents the energy dissipation of materials. Reactive depositions using titanium as the target and nitrogen and methane as reactive gases were obtained by triode magnetron sputtering, in order to assess wear and nanoindentation data. A topographical, chemical and microstructural characterization has been conducted using X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), wave dispersion spectroscopy (WDS), scanning electron (SEM) and atomic force microscopy (AFM) techniques. Nanoscratch results showed that the groove depth was well correlated to the energy dissipation coefficient of the coatings. On the other hand, a reduction in the coefficient was found when the elastic recovery was increased. (C) 2009 Elsevier B.V. All rights reserved.

Usability and Acceptability of ASSESS MS: Assessment of Motor Dysfunction in Multiple Sclerosis Using Depth-Sensing Computer Vision

Background: Sensor-based recordings of human movements are becoming increasingly important for the assessment of motor symptoms in neurological disorders beyond rehabilitative purposes. ASSESS MS is a movement recording and analysis system being developed to automate the classification of motor dysfunction in patients with multiple sclerosis (MS) using depth-sensing computer vision. It aims to provide a more consistent and finer-grained measurement of motor dysfunction than currently possible. Objective: To test the usability and acceptability of ASSESS MS with health professionals and patients with MS. Methods: A prospective, mixed-methods study was carried out at 3 centers. After a 1-hour training session, a convenience sample of 12 health professionals (6 neurologists and 6 nurses) used ASSESS MS to capture recordings of standardized movements performed by 51 volunteer patients. Metrics for effectiveness, efficiency, and acceptability were defined and used to analyze data captured by ASSESS MS, video recordings of each examination, feedback questionnaires, and follow-up interviews. Results: All health professionals were able to complete recordings using ASSESS MS, achieving high levels of standardization on 3 of 4 metrics (movement performance, lateral positioning, and clear camera view but not distance positioning). Results were unaffected by patients’ level of physical or cognitive disability. ASSESS MS was perceived as easy to use by both patients and health professionals with high scores on the Likert-scale questions and positive interview commentary. ASSESS MS was highly acceptable to patients on all dimensions considered, including attitudes to future use, interaction (with health professionals), and overall perceptions of ASSESS MS. Health professionals also accepted ASSESS MS, but with greater ambivalence arising from the need to alter patient interaction styles. There was little variation in results across participating centers, and no differences between neurologists and nurses. Conclusions: In typical clinical settings, ASSESS MS is usable and acceptable to both patients and health professionals, generating data of a quality suitable for clinical analysis. An iterative design process appears to have been successful in accounting for factors that permit ASSESS MS to be used by a range of health professionals in new settings with minimal training. The study shows the potential of shifting ubiquitous sensing technologies from research into the clinic through a design approach that gives appropriate attention to the clinic environment.

Evaluating the reinforcement of inorganic fullerene-like nanoparticles in thermoplastic matrices by depth-sensing indentation

The reinforcing effect of inorganic fullerene-like tungsten disulfide (IF-WS2) nanoparticles in two different polymer matrices, isotactic polypropylene (iPP) and polyphenylene sulfide (PPS), has been investigated by means of dynamic depth-sensing indentation. The hardness and elastic modulus enhancement upon filler addition is analyzed in terms of two main contributions: changes in the polymer matrix nanostructure and intrinsic properties of the filler including matrix-particle load transfer. It is found that the latter mainly determines the overall mechanical improvement, whereas the nanostructural changes induced in the polymer matrix only contribute to a minor extent. Important differences are suggested between the mechanisms of deformation in the two nanocomposites, resulting in a moderate mechanical enhancement in case of iPP (20% for a filler loading of 1%), and a remarkable hardness increase in case of PPS (60% for the same filler content). The nature of the polymer amorphous phase, whether in the glassy or rubbery state, seems to play here an important role. Finally, nanoindentation and dynamic mechanical analysis measurements are compared and discussed in terms of the different directionality of the stresses applied.

μ-MAR: Multiplane 3D Marker based Registration for depth-sensing cameras

Many applications including object reconstruction, robot guidance, and. scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations between views are unknown and it is necessary to apply expert inference to estimate them. In the last few years, the emergence of low-cost depth-sensing cameras has strengthened the research on this topic, motivating a plethora of new applications. Although they have enough resolution and accuracy for many applications, some situations may not be solved with general state-of-the-art registration methods due to the signal-to-noise ratio (SNR) and the resolution of the data provided. The problem of working with low SNR data, in general terms, may appear in any 3D system, then it is necessary to propose novel solutions in this aspect. In this paper, we propose a method, μ-MAR, able to both coarse and fine register sets of 3D points provided by low-cost depth-sensing cameras, despite it is not restricted to these sensors, into a common coordinate system. The method is able to overcome the noisy data problem by means of using a model-based solution of multiplane registration. Specifically, it iteratively registers 3D markers composed by multiple planes extracted from points of multiple views of the scene. As the markers and the object of interest are static in the scenario, the transformations obtained for the markers are applied to the object in order to reconstruct it. Experiments have been performed using synthetic and real data. The synthetic data allows a qualitative and quantitative evaluation by means of visual inspection and Hausdorff distance respectively. The real data experiments show the performance of the proposal using data acquired by a Primesense Carmine RGB-D sensor. The method has been compared to several state-of-the-art methods. The results show the good performance of the μ-MAR to register objects with high accuracy in presence of noisy data outperforming the existing methods.

Measurement of residual stress by load and depth sensing indentation with spherical indenters

A new experimental technique is presented for making measurements of biaxial residual stress using load and depth sensing indentation (nanoindentation). The technique is based on spherical indentation, which, in certain deformation regimes, can be much more sensitive to residual stress than indentation with sharp pyramidal indenters like the Berkovich. Two different methods of analysis were developed: one requiring an independent measure of the material's yield strength and the other a reference specimen in the unstressed state or other known reference condition. Experiments conducted on aluminum alloys to which controlled biaxial bending stresses were applied showed that the methods are capable of measuring the residual stress to within 10-20% of the specimen yield stress. Because the methods do not require imaging of the hardness impressions, they are potentially useful for making localized measurements of residual stress, as in thin films or small volumes, or for characterization of point-to-point spatial variations of the surface stress.

tCAD: a 3D modeling application on a depth enhanced tabletop computer

Tabletop computers featuring multi-touch input and object tracking are a common platform for research on Tangible User Interfaces (also known as Tangible Interaction). However, such systems are confined to sensing activity on the tabletop surface, disregarding the rich and relatively unexplored interaction canvas above the tabletop. This dissertation contributes with tCAD, a 3D modeling tool combining fiducial marker tracking, finger tracking and depth sensing in a single system. This dissertation presents the technical details of how these features were integrated, attesting to its viability through the design, development and early evaluation of the tCAD application. A key aspect of this work is a description of the interaction techniques enabled by merging tracked objects with direct user input on and above a table surface.

Utilizing Depth Information for Emerging 3D Applications

Thesis (Ph.D.)--University of Washington, 2016-06

Finite element and dimensional analysis algorithm for the prediction of mechanical properties of bulk materials and thin films

In this work, the applicability of a new algorithm for the estimation of mechanical properties from instrumented indentation data was studied for thin films. The applicability was analyzed with the aid of both three-dimensional finite element simulations and experimental indentation tests. The numerical approach allowed studying the effect of the substrate on the estimation of mechanical properties of the film, which was conducted based on the ratio h(max)/l between maximum indentation depth and film thickness. For the experimental analysis, indentation tests were conducted on AISI H13 tool steel specimens, plasma nitrated and coated with TiN thin films. Results have indicated that, for the conditions analyzed in this work, the elastic deformation of the substrate limited the extraction of mechanical properties of the film/substrate system. This limitation occurred even at low h(max)/l ratios and especially for the estimation of the values of yield strength and strain hardening exponent. At indentation depths lower than 4% of the film thickness, the proposed algorithm estimated the mechanical properties of the film with accuracy. Particularly for hardness, precise values were estimated at h(max)/l lower than 0.1, i.e. 10% of film thickness. (C) 2010 Published by Elsevier B.V.

Haptic robot-environment interaction for self-supervised learning in ground mobility

Dissertação para obtenção do Grau de Mestre em Engenharia Eletrotécnica e de Computadores

Controlled aggregation of gold nanoparticles in a di-ureasilmatrix. Optical and micro indentation investigation

Nanocomposite materials with an organic-inorganic urea-silicate (di-ureasil) based matrix containing gold nanoparticles (NPs) were synthesized and characterized by optical (UV/Vis) spectroscopy and indentation measurement. The urea silicate gels were obtained by reaction between silicon alkoxyde modified by isocyanate group and polyethylene glycol oligomer with amine terminal groups in presence of catalyst. The latter ensures the successful incorporation of citrate-stabilized gold NPs in the matrix. It is shown that using a convenient destabilizing agent (AgNO3) and governing the preparative conditions, the aggregation degree of gold NPs can be controlled. The developed synthesis procedure significantly simplifies the preparative procedure of gold/urea silicate nanocomposites, compared to the procedure using gold NPs, preliminary covered with silica shells. Mechanical properties of the prepared sample were characterised using depth sensing indentation methods (DSI) and an idea about the type of aggregation structures was suggested.

Caratterizzazione meccanica multiscala di materiali rocciosi strutturalmente complessi

The research work was aimed at studying, with a deterministic approach, the relationships between the rock’s texture and its mechanical properties determined at the laboratory scale. The experimentation was performed on a monomineralic crystalline rock, varying in texture, i.e. grains shape. Multi-scale analysis has been adopted to determine the elasto-mechanical properties of the crystals composing the rock and its strength and deformability at the macro-scale. This let us to understand how the structural variability of the investigated rock affects its macromechanical behaviour. Investigations have been performed on three different scales: nano-scale (order of nm), micro-scale (tens of m) and macro-scale (cm). Innovative techniques for rock mechanics, i.e. Depth Sensing Indentation (DSI), have been applied, in order to determine the elasto-mechanical properties of the calcite grains. These techniques have also allowed to study the influence of grain boundaries on the mechanical response of calcite grains by varying the indents’ sizes and to quantify the effect of the applied load on the hardness and elastic modulus of the grain (indentation size effect, ISE). The secondary effects of static indentation Berkovich, Vickers and Knoop were analyzed by SEM, and some considerations on the rock’s brittle behaviour and the effect of microcracks can be made.

Measuring the elastic modulus of polymers using the atomic force microscope

Testing a new method of nanoindentation using the atomic force microscope (AFM) was the purpose of this research. Nanoindentation is a useful technique to study the properties of materials on the sub-micron scale. The AFM has been used as a nanoindenter previously; however several parameters needed to obtain accurate results, including tip radius and cantilever sensitivity, can be difficult to determine. To solve this problem, a new method to determine the elastic modulus of a material using the atomic force microscope (AFM) has been proposed by Tang et al. This method models the cantilever and the sample as two springs in a series. The ratio of the cantilever spring constant (k) to diameter of the tip (2a) is treated in the model as one parameter (α=k/2a). The value of a, along with the cantilever sensitivity, are determined on two reference samples with known mechanical properties and then used to find the elastic modulus of an unknown sample. To determine the reliability and accuracy of this technique, it was tested on several polymers. Traditional depth-sensing nanoindentation was preformed for comparison. The elastic modulus values from the AFM were shown to be statistically similar to the nanoindenter results for three of the five samples tested.

Determining the elastic-plastic properties of metallic materials through instrumented indentation

En los últimos años, y asociado al desarrollo de la tecnología MEMS, la técnica de indentación instrumentada se ha convertido en un método de ensayo no destructivo ampliamente utilizado para hallar las características elástico-plásticas de recubrimientos y capas delgadas, desde la escala macroscópica a la microscópica. Sin embargo, debido al complejo mecanismo de contacto debajo de la indentación, es urgente proponer un método más simple y conveniente para obtener unos resultados comparables con otras mediciones tradicionales. En este estudio, el objetivo es mejorar el procedimiento analítico para extraer las propiedades elástico-plásticas del material mediante la técnica de indentación instrumentada. La primera parte se centra en la metodología llevada a cabo para medir las propiedades elásticas de los materiales elásticos, presentándose una nueva metodología de indentación, basada en la evolución de la rigidez de contacto y en la curva fuerza-desplazamiento del ensayo de indentación. El método propuesto permite discriminar los valores de indentación experimental que pudieran estar afectados por el redondeo de la punta del indentador. Además, esta técnica parece ser robusta y permite obtener valores fiables del modulo elástico. La segunda parte se centra en el proceso analítico para determinar la curva tensión-deformación a partir del ensayo de indentación, empleando un indentador esférico. Para poder asemejar la curva tension-deformación de indentación con la que se obtendría de un ensayo de tracción, Tabor determinó empíricamente un factor de constricción de la tensión () y un factor de constricción de la deformación (). Sin embargo, la elección del valor de y  necesitan una derivación analítica. Se describió analíticamente una nueva visión de la relación entre los factores de constricción de tensión y la deformación basado en la deducción de la ecuación de Tabor. Un modelo de elementos finitos y un diseño experimental se realizan para evaluar estos factores de constricción. A partir de los resultados obtenidos, las curvas tension-deformación extraidas de los ensayos de indentación esférica, afectadas por los correspondientes factores de constricción de tension y deformación, se ajustaron a la curva nominal tensión-deformación obtenida de ensayos de tracción convencionales. En la última parte, se estudian las propiedades del revestimiento de cermet Inconel 625-Cr3C2 que es depositado en el medio de una aleación de acero mediante un láser. Las propiedades mecánicas de la matriz de cermet son estudiadas mediante la técnica de indentación instrumentada, haciendo uso de las metodologías propuestas en el presente trabajo. In recent years, along with the development of MEMS technology, instrumented indentation, as one type of a non-destructive measurement technique, is widely used to characterize the elastic and plastic properties of metallic materials from the macro to the micro scale. However, due to the complex contact mechanisms under the indentation tip, it is necessary to propose a more convenient and simple method of instrumented indention to obtain comparable results from other conventional measurements. In this study, the aim is to improve the analytical procedure for extracting the elastic plastic properties of metallic materials by instrumented indentation. The first part focuses on the methodology for measuring the elastic properties of metallic materials. An alternative instrumented indentation methodology is presented. Based on the evolution of the contact stiffness and indentation load versus the depth of penetration, the possibility of obtaining the actual elastic modulus of an elastic-plastic bulk material through instrumented sharp indentation tests has been explored. The proposed methodology allows correcting the effect of the rounding of the indenter tip on the experimental indentation data. Additionally, this technique does not seem too sensitive to the pile-up phenomenon and allows obtaining convincing values of the elastic modulus. In the second part, an analytical procedure is proposed to determine the representative stress-strain curve from the spherical indentation. Tabor has determined the stress constraint factor (stress CF), and strain constraint factor (strain CF), empirically but the choice of a value for and is debatable and lacks analytical derivation. A new insight into the relationship between stress and strain constraint factors is analytically described based on the formulation of Tabor’s equation. Finite element model and experimental tests have been carried out to evaluate these constraint factors. From the results, representative stress-strain curves using the proposed strain constraint factor fit better with the nominal stress-strain curve than those using Tabor’s constraint factors. In the last part, the mechanical properties of an Inconel 625-Cr3C2 cermet coating which is deposited onto a medium alloy steel by laser cladding has been studied. The elastic and plastic mechanical properties of the cermet matrix are studied using depth-sensing indentation (DSI) on the micro scale.

Indentation of elastically anisotropic half-spaces by cones and parabolae of revolution

Indentation of ceramic materials with smooth indenters such as parabolae of revolution and spheres can be conducted in the elastic regime to relatively high loads. Ceramic single crystals thus provide excellent calibration media for load-and depth-sensing indentation testing; however, they are generally anisotropic and a complete elastic analysis is cumbersome. This study presents a simplified procedure for the determination of the stiffness of contact for the indentation of an anisotropic half-space by a rigid frictionless parabola of revolution which, to first order, approximates spherical indentation. Using a similar approach, a new procedure is developed for analysing conical indentation of anisotropic elastic media. For both indenter shapes, the contact is found to be elliptical, and equations are determined for the size, shape and orientation of the ellipse and the indentation modulus.

Automatic and adaptable registration of live RGBD video streams sharing partially overlapping views

In this thesis, we introduce DeReEs-4v, an algorithm for unsupervised and automatic registration of two video frames captured depth-sensing cameras. DeReEs-4V receives two RGBD video streams from two depth-sensing cameras arbitrary located in an indoor space that share a minimum amount of 25% overlap between their captured scenes. The motivation of this research is to employ multiple depth-sensing cameras to enlarge the field of view and acquire a more complete and accurate 3D information of the environment. A typical way to combine multiple views from different cameras is through manual calibration. However, this process is time-consuming and may require some technical knowledge. Moreover, calibration has to be repeated when the location or position of the cameras change. In this research, we demonstrate how DeReEs-4V registration can be used to find the transformation of the view of one camera with respect to the other at interactive rates. Our algorithm automatically finds the 3D transformation to match the views from two cameras, requires no human interference, and is robust to camera movements while capturing. To validate this approach, a thorough examination of the system performance under different scenarios is presented. The system presented here supports any application that might benefit from the wider field-of-view provided by the combined scene from both cameras, including applications in 3D telepresence, gaming, people tracking, videoconferencing and computer vision.