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The Whole Skin Locomotion robot propels itself using a motion similar to the cytoplasmic streaming exhibited by an amoeba. In the robot there are embedded ring actuators which evert the material of the robot to produce forward motion. The robot benefits from a highly flexible exterior allowing it to squeeze into constricted passageways or collapsed structures. The development of actuators for such a motion is performed by a shape memory alloy composite actuator. Unlike a typical composite model which utilizes a homogenization of fiber and matrix properties our model is developed for line loads produced in individual shape memory alloy wires onto the rod structure. The load vectors are determined in the deformed configuration of the actuator to account for the highly deformed actuator profiles that would be seen in operation. Also the load requirements for such actuators are developed in terms of the constriction forces and functional design limits are established. In addition, a helical spring backbone design is considered and stiffness properties for general helical springs are determined. The contact of spring coils is included in the analysis and a coupled constitutive model is developed for the spring when coils are in contact. The static design of helical springs for use in the actuators is performed and deformation and load restrictions are determined for subsequent design efforts. / Ph. D.

O uso de fundações por estacas helicoidais tem aumentado consideravelmente nos últimos anos, devido às suas vantagens comparadas a outros tipos de fundação, como a sua rápida instalação e sua capacidade de resistir simultaneamente a esforços de tração e de compressão. No entanto, os métodos de previsão do comportamento deste tipo de fundação submetida a esforços de tração (denominadas ancoragens helicoidais neste caso), ainda são insatisfatórios, e normalmente são observadas discrepâncias entre os resultados estimados por métodos teóricos e medidos em provas de carga. Entre outras razões, estas diferenças ocorrem principalmente pelo fato dos efeitos da instalação destas ancoragens no solo não serem considerados nos métodos de previsão disponíveis. No momento da instalação, os parâmetros do solo atravessado são modificados, e como é o volume de solo alterado que deve resistir ao carregamento da ancoragem sob tração, é essencial entender e quantificar este efeito de instalação para uma previsão adequada da capacidade de carga deste tipo de ancoragem. Para contribuir com o entendimento deste efeito, no presente trabalho foram realizadas simulações numéricas com o software FLAC3D, para se conhecer as modificações ocorridas no solo devido à instalação de uma ancoragem helicoidal em areia compacta. Para este fim, na simulação do solo penetrado pela hélice, foram reduzidos os valores de ângulo de atrito e do módulo de elasticidade da areia. O modelo foi validado por meio da comparação com a curva carga-deslocamento obtida experimentalmente em ensaios realizados em centrifuga. Após o ajuste do modelo numérico, foi realizada uma análise paramétrica com o objetivo de investigar o efeito da instalação no fator de capacidade de carga (Nq). Por meio da análise paramétrica também foram avaliados o deslocamento da ancoragem sob carga máxima e as tensões horizontais atuantes na superfície de ruptura. Os resultados estimados de Nq foram comparados com estudos anteriores, e mostraram um bom ajuste com resultados de provas de carga in situ e em centrifuga. Além disso, o estudo paramétrico indicou que as tensões horizontais atuantes na zona de ruptura são distribuídas em forma de tronco de cone, e variam de acordo com o diâmetro da hélice. / The use of helical foundations has increased considerably in recent years due to its advantages compared to other types of foundations, such as rapid installation and the capacity of resisting tensile and compressive loads. However, the methods normally used to predict the behavior of this type of foundation under tensile loads (called helical anchors in this case), are still unsatisfactory, and discrepancies are usually observed between the results estimated by theoretical methods and measured in load tests. Among other reasons, these differences occur mainly because the effects of helical anchor installation in the soil are not considered in the available predicting methods. During installation, the parameters of the soil penetrated are modified, and since it is this disturbed soil volume that must support the loading of the anchor under tension, it is essential to understand and quantify this installation effect for an adequate prediction of the uplift capacity of this type anchor. In order to contribute to the understanding of this effect, in the present work numerical simulations with the software FLAC3D were performed to evaluate the modifications occurred in the soil due to the installation of a helical anchor in dense sand. For this purpose, in the simulation of the soil penetrated by the helices, the values of friction angle and modulus of elasticity of the sand were reduced. The model was validated by means of the comparison with a load-displacement curve obtained experimentally in centrifuge model tests. After adjusting the numerical model, a parametric analysis was carried out to investigate the effect of the installation on the breakout factor (Nq). The parametric analyses were also used to investigate the anchor displacement at the peak load and the horizontal stresses acting on the failure surface. The estimated Nq values were compared with previous studies, and showed a good agreement with experimental results obtained by field and centrifuge tests. Additionally, the parametric study indicated that the horizontal stresses acting on the failure zone are distributed in the shape of a truncated cone, and vary with the helix diameter.

O uso de fundações por estacas helicoidais tem aumentado consideravelmente nos últimos anos, devido às suas vantagens comparadas a outros tipos de fundação, como a sua rápida instalação e sua capacidade de resistir simultaneamente a esforços de tração e de compressão. No entanto, os métodos de previsão do comportamento deste tipo de fundação submetida a esforços de tração (denominadas ancoragens helicoidais neste caso), ainda são insatisfatórios, e normalmente são observadas discrepâncias entre os resultados estimados por métodos teóricos e medidos em provas de carga. Entre outras razões, estas diferenças ocorrem principalmente pelo fato dos efeitos da instalação destas ancoragens no solo não serem considerados nos métodos de previsão disponíveis. No momento da instalação, os parâmetros do solo atravessado são modificados, e como é o volume de solo alterado que deve resistir ao carregamento da ancoragem sob tração, é essencial entender e quantificar este efeito de instalação para uma previsão adequada da capacidade de carga deste tipo de ancoragem. Para contribuir com o entendimento deste efeito, no presente trabalho foram realizadas simulações numéricas com o software FLAC3D, para se conhecer as modificações ocorridas no solo devido à instalação de uma ancoragem helicoidal em areia compacta. Para este fim, na simulação do solo penetrado pela hélice, foram reduzidos os valores de ângulo de atrito e do módulo de elasticidade da areia. O modelo foi validado por meio da comparação com a curva carga-deslocamento obtida experimentalmente em ensaios realizados em centrifuga. Após o ajuste do modelo numérico, foi realizada uma análise paramétrica com o objetivo de investigar o efeito da instalação no fator de capacidade de carga (Nq). Por meio da análise paramétrica também foram avaliados o deslocamento da ancoragem sob carga máxima e as tensões horizontais atuantes na superfície de ruptura. Os resultados estimados de Nq foram comparados com estudos anteriores, e mostraram um bom ajuste com resultados de provas de carga in situ e em centrifuga. Além disso, o estudo paramétrico indicou que as tensões horizontais atuantes na zona de ruptura são distribuídas em forma de tronco de cone, e variam de acordo com o diâmetro da hélice. / The use of helical foundations has increased considerably in recent years due to its advantages compared to other types of foundations, such as rapid installation and the capacity of resisting tensile and compressive loads. However, the methods normally used to predict the behavior of this type of foundation under tensile loads (called helical anchors in this case), are still unsatisfactory, and discrepancies are usually observed between the results estimated by theoretical methods and measured in load tests. Among other reasons, these differences occur mainly because the effects of helical anchor installation in the soil are not considered in the available predicting methods. During installation, the parameters of the soil penetrated are modified, and since it is this disturbed soil volume that must support the loading of the anchor under tension, it is essential to understand and quantify this installation effect for an adequate prediction of the uplift capacity of this type anchor. In order to contribute to the understanding of this effect, in the present work numerical simulations with the software FLAC3D were performed to evaluate the modifications occurred in the soil due to the installation of a helical anchor in dense sand. For this purpose, in the simulation of the soil penetrated by the helices, the values of friction angle and modulus of elasticity of the sand were reduced. The model was validated by means of the comparison with a load-displacement curve obtained experimentally in centrifuge model tests. After adjusting the numerical model, a parametric analysis was carried out to investigate the effect of the installation on the breakout factor (Nq). The parametric analyses were also used to investigate the anchor displacement at the peak load and the horizontal stresses acting on the failure surface. The estimated Nq values were compared with previous studies, and showed a good agreement with experimental results obtained by field and centrifuge tests. Additionally, the parametric study indicated that the horizontal stresses acting on the failure zone are distributed in the shape of a truncated cone, and vary with the helix diameter.

This research is primarily concerned with the on-going development of the secondary mathematics curriculum in The Bahamas. In order to determine whether pupils assimilated mathematical ideas into a schematic structure, and could retrieve and use them as final behaviours outlined in the syllabuses, data from two diagnostic tests administered to pupils of 13+ and 15+ years respectively, were analysed. For the former age range, 377 pupils completed an Objective Test containing 50 items and for the latter age range 241 pupils attempted a Choice-Type Test with the instruction to choose any 10 of the total of 14 questions [continued]…

In the recent past it has been found that a considerable pressure drop occurred during the extrusion of linear polyethylene in the course of capillary flow. The pressure drop resides within a narrow temperature window of one to two degrees Celsius. In this research the hydrodynamic condition and molecular origin of the extrusion window of linear polymer were investigated further. The advantage of the extrusion window, viz. smooth extrudate with less die swell ratio attained at low extrusion pressure and temperature, has potential in industrial applications. However, the extrusion window, corresponding to linear polyethylene (PE) with relatively low polydispersity (<7), has a narrow window temperature interval, circa 1~2°C, thus it could not be applied to industrial scale processing at the industrial scale. To have a fundamental insight and make the process industrially viable, research in this thesis was devoted to broaden the extrusion window to tolerate the thermal fluctuations in conventional processing. To achieve this goal molecular weight dependence of window temperature and flow criticalities is revealed. The hydrodynamic conditions of the extrusion window observed in a rate-controlled rheometer and stick-slip flow studied in a stress-controlled rheometer could be traced back to the same origin, viz. slip flow arises due to the disentanglement of adsorbed chains on capillary wall from free chains in the bulk. Secondly, a dual window effect was uncovered in the course of capillary flow of a bimodal PE, which is consistent with the window temperature dependence on molecular weight. Moreover, it was found that flow induced orientation within the window effect is even less than that observed in steady state flow at a relatively low shear rate. This implies that in the window region only relaxed free chains are extruded through the capillary die and most of the adsorbed chains, which could be disengaged from the entangled melt, remain sticking to the inner capillary wall. This observation is consistent with the hydrodynamic origin of high-surface-energy-die slip flow. Finally, a unimodal linear PE with extremely broad molecular weight distribution, i.e. polydispersity (PDI) is 27, showed a broad window effect, circa 8°C, at an appropriate apparent shear rate. The molecular origin of such a broad window effect is due to its broad molecular weight distribution. These results have further implications for energy efficient processing.