Les microrobots magnétiques, qui nagent en utilisant des modes de propulsion bio-inspirées, apparaissent très prometteurs pour la manipulation et la caractérisation d'objets à l'échelle microscopique dans des environnements confinés et très restreints, contrairement aux méthodes de micromanipulation classiques. La littérature propose une variété de microrobots avec des formes géométriques et des propriétés magnétiques différentes. Les commandes en mouvement proposées restent cependant simples, peu précises et insuffisamment robustes pour la réalisation de tâches réelles. De plus, il subsiste une incertitude sur le fait que tous ces micronageurs artificiels peuvent accomplir les mêmes tâches avec une performance égale. L'objectif de cette thèse consiste alors à proposer : des commandes de mouvement génériques par asservissement visuel dans l'espace pour tous les types de micronageurs avec des contraintes non holonomes afin d'améliorer les performances de ces micronageurs, un ensemble de critères de comparaison entre des robots avec une topologie ou un mode de propulsion différents pour le choix du micronageur le plus performant pour réaliser une tâche particulière. Des lois de commande de suivi de chemin dans l'espace sont synthétisées et validées expérimentalement sur des nageurs hélicoïdal et flexible sous différentes conditions. Ces robots évoluent dans un fluide à faible nombre de Reynolds, imitant respectivement le mécanisme de locomotion des bactéries et des spermatozoïdes et sont actionnés par un champ magnétique uniforme. Ces deux classes de nageurs possèdent une géométrie et un mode d'actionnement différents. Leurs performances sont ainsi comparées. / Magnetic microrobots, which swim using bio-inspired propulsion modes, appear very promising for manipulation and characterization of objects at microscopic scale inside confined and very restricted environments, unlike conventional micromanipulation methods. The literature proposes a variety of microrobots with different geometric shapes and magnetic properties. However, the motion controls proposed remain simple, imprecise and insufficiently robust for performing real tasks. In addition, there is still uncertainty that all these artificial microswimmers can accomplish the same tasks with equal performance. The objective of this thesis is thus to propose : generic motion controls by visual servoing in space for all kinds of microswimmers with nonholonomic constraints in order to improve the microswimmer performances, a set of comparison criteria between robots with a different topology or propulsion mode for choosing the most efficient microswimmer in order to perform a specific task. Path following control laws in space are synthesized and experimentally validated on helical and flexible swimmers under different conditions. These robots operate in low Reynolds number fluid, imitating respectively bacteria and spermatozoa and are actuated with uniform magnetic field. These two classes of swimmers have different actuation mode and geometric shape. Their performances are thus compared according to the task to be performed, the environment in which the robots evolve and the manufacturing constraints.

“La vie ne produit pas de corps symétrique”L. Pasteur. Briser la symétrie-miroir est un sujet fascinant qui revêt un rôle crucial en physique, en chimie et en biologie.Le but ultime de cette étude est de démontrer expérimentalement la conjecture de Curie de-Gennes. Cette hypothèse a été proposée pour la première fois par P. Curie 1894 et plus tard développée par De-Gennes. Elle indique qu’il est possible de générer une dissymétrie (excès énantiomérique (e.e.)) en soumettant un mélange racémique à l'influence combinée de champs magnétique et électrique colinéaires. Une telle influence modifie la cinétique du système : selon l'orientation relative des champs magnétique et électrique, l'un des énantiomères est formé plus rapidement que l'autre en raison d’une énergie d'activation inférieure (Ea). Une telle influence a été ultérieurement appelée « faussement chirale » par Barron. Pour démontrer expérimentalement cette conjecture, deux expériences différentes ont été développées :1) La cristallisation énantiosélective d'un réseau de coordination chiral sous des influences physiques externes (champ magnétique ou force de rotation) par diffusion lente. Un petit e.e. est supposé être créé puis amplifié par la croissance des cristaux à l'interface solvant/vapeur d'éthanol. Dans cette expérience, nous avons constaté que la démonstration de conjecture de Curie de Gennes est difficile à atteindre en raison de la forte dispersion de la moyenne des valeurs du e.e. obtenues et de la faiblesse de l'effet attendu.2) La création d'un e.e. dans un atropisomère racémique d’un cristal liquide à base de biphényle en appliquant des champs magnétique et électrique (anti) parallèles. Un arrangement supramoléculaire hélicoïdal des molécules de biphényles dans la phase nématique augmentera le signal lié à la présence d’un e.e. à un niveau mesurable. Au cours de cette seconde expérience, nous avons observé expérimentalement un e.e des dérivés à base de biphényle induit par une combinaison (anti)parallèle de champs magnétique et électrique. Cet excès dépend linéairement du produit des champs magnétique et électrique et l’ordre de grandeur des résultats observés expérimentalement correspond aux estimations théoriques. Compte tenu des résultats obtenus, sous réserve d’ultimes vérifications, cette expérience constitue une démonstration expérimentale convaincante de la conjecture Curie de-Gennes. / “La vie ne produit pas de corps symétrique” L. Pasteur Mirror symmetry breaking is an ever-fascinating topic that plays a crucial role in physics, chemistry, and biology. The ultimate goal of this study is to demonstrate experimentally the so-called Curie de-Gennes conjecture. It was proposed for the first time by P. Curie (1894) and later developed by de-Gennes. It stipulates that it is possible to generate dissymmetry (enantiomeric excess (e.e.)) by submitting a racemic mixture to the combined influence of collinear magnetic and electric fields. Such influence modifies the kinetics of the system: depending on the relative orientation of the magnetic and electric fields, one of the enantiomers is formed faster than the other because of a lower activation energy (Ea),. This influence was later named by Barron as « falsely chiral ». To demonstrate this conjecture, two different experiments were developed:1) The enantioselective crystallization of a chiral metal-organic framework under external physical influence (magnetic field or rotation force) by slow diffusion. The small e.e. is expected to be created and amplified by crystal growth at the interface aqueous solution / ethanol-saturated vapors. In this experiment, we have found that the Curie de-Gennes conjecture demonstration is difficult to achieve due to high dispersion of the average of the observed e.e. and the weakness of the expected effect. 2) Creating an e.e. in a racemic atropisomeric biphenyl based liquid crystal by applying (anti)parallel magnetic and electric fields. The helical twisting power of biphenyls molecules in the nematic phase will enhance the dichroic signal related to the expected e.e. to a measurable level. During this second experiment we have experimentally observed an e.e. in biphenyl-based nematic liquid crystals induced by (anti)parallel combination of magnetic and electric fields. This excess was linearly dependent on the product of magnetic and electric fields and, within one order of magnitude, its absolute value corresponds to the theoretical estimation. Ultimate checks shall confirm that these results constitute a convincing experimental demonstration of the Curie de Gennes conjecture.

UHF bands because more penetration can be achieved at low frequencies. Consequently, large antennas are required, which limits their use for small airborne applications. This thesis explores various GPR antenna designs for a bi-static system that are at least operational from 225 MHz to 255 MHz and suitable for small airborne applications. The 3D electromagnetic simulation software Ansys high-frequency structure simulator (HFSS) was used to simulate various sizes of strip dipole, triangular bowtie, half elliptical bowtie, and elliptical bowtie antennas. Several physical models were constructed to validate the return loss simulation results. Additionally, simulation data is included for a wire dipole and a helical antenna. The helical antenna proved to be too large for small airborne application, so focus was placed on the dipole and bowtie designs. The performance of the dipole and bowtie antenna models are compared by size, weight, return loss (𝑆11), peak gain, and the transmit-to-receive isolation. Out of the fourteen simulated models, twelve meet the bandwidth requirement with an average weight of 0.23 lbs. It is found that the strip dipole exhibited wider bandwidth characteristics than the triangular, elliptical, and half elliptical bowtie models, while maintaining similar weight and size. The smallest strip dipole model is 50 mm x 528 mm x 1 mm, weighs 0.17 lbs, and is operational from 225 MHz to 283 MHz. Two strip dipole test antennas were fabricated and tested. Test results confirm the simulation predictions.

No description available.

The suspension system in vehicles supports the vehicle's road stability and ride quality by scaling down the vibration responses resulting from road surface's roughness. This research focuses on fatigue life analysis of coil spring component. Static linear analysis is conducted on the 3D model of helical coil spring to investigate deformation and stress responses. Modal analysis evaluates the characteristics of vibration, i.e. natural resonance frequencies and corresponding mode shapes. The stress frequency response is generated after performing the harmonic analysis on the spring. Dynamics and performance of spring are analyzed over practical frequency range of 0 Hz to 200 Hz. Fatigue life estimation of vehicle suspension spring is performed using the stress data obtained from frequency response analysis. The stress-life (S-N) approach is utilized for fatigue life assessment of suspension spring. This durability analysis technique can be utilized in the automotive industry to improve reliability of vehicles. The outcome of this research can contribute in analysis and design of modern smart vehicles. / Master of Science / The suspension system in vehicles supports the vehicle's road stability and ride quality by scaling down the vibration responses resulting from road surface's roughness. This research focuses on the fatigue life analysis of suspension spring component. Initial phase of analysis is conducted to investigate the deformation and stress in 3D model of spring. Dynamics and performance of spring are analyzed over applicable frequency range of 0 Hz to 200 Hz. Fatigue life of vehicle suspension spring is evaluated using stress data from frequency response analysis. This durability analysis technique can be utilized in the automotive industry to improve reliability of vehicles. The outcome of this research can contribute in analysis and design of modern smart vehicles.

The phase behavior of chiral block copolymers (BCPs*), namely, BCPs with at least one of the constituent block is formed by chiral monomers, is studied both experimentally and theoretically. Specifically, the formation of a unique morphology with helical sense, the H* phase, where the chiral block forms nanohelices hexagonally embedded in the matrix of achiral block, is investigated. Such unique morphology was first observed in the cast film of polystyrene-b-poly(L-lactide) (PS-b-PLLA) from a neutral solvent dichloromethane at room temperature with all the nanohelices being left-handed, which would switch to right-handed if the PLLA block changes to PDLA. Further studies revealed that such morphology only forms when the chiral PLLA block possesses certain volume fraction (from 0.32 to 0.36), and the molecular weight exceeds certain critical value (around 20,000 to 25,000 g/mol). Achiral phases such as lamellae, gyroid, cylinder, and sphere will form if the above criteria are not satisfied. Even though the unique H* phase has been extensively studied and utilized for many applications, many fundamental and important questions remain unanswered for such BCP* system. Specifically, how does the molecular level chirality transfer from the several-angstrom scale of the lactide monomer to the tens-of-nanometer size scale of the H* domain morphology? Why is the chirality transfer not automatic for this BCP* system? Is H* phase a thermodynamic stable or metastable phase? Are there other novel phases other than the H* phase that could form within the BCP* system? We aimed at providing answers to the abovementioned questions regarding the formation of chiral H* phase, which is no longer limited to the PS-b-PLLA/PDLA system. We divided our studies into both experimental and theoretical parts. In the experiments, we studied the effect of solvent casting conditions, including solvent removal rate and polymer-solvent interactions, on the formation of the H* phase in PS-b-PLLA/PDLA BCPs*. In addition, we monitored the morphological evolution during solvent casting using time-resolved x-ray scattering technique. We found that good solubility towards both PS and PLLA/PDLA blocks are required for the formation of the H* phase, and microphase separation has to happen prior to crystallization of chiral block. Most importantly, we found that crystalline ordering is not necessary for the H* phase formation. This result led us to propose melt-state twisted molecular packing as the underlying driving force for such helical phase to form, and began our work on the theory for BCPs*. First we built the theoretical tool by incorporating the orientational segmental interactions into the self-consistent field theory (SCFT) for BCPs. As a demonstration, we constructed the phase diagrams for one-dimensional (1D) and two-dimensional (2D) phases, for achiral BCPs with different orientational stiffness. We found that orientational stiffness could serve as another parameter to introduce asymmetry into BCP systems, in addition to conformational and architectural asymmetry. This model was further applied to study the phase behavior of BCPs*, and two phase diagrams were constructed. Another chiral phase, wavy lamellae (L* phase), was observed for BCPs*. The H* phase was found to be a thermodynamic stable phase, as long as the segregation strength ����and chiral strength ��! exceed certain critical values. Energetically favorable cholesteric texture was observed for the chiral segment packing inside the H* phase, which is believed to drive such unusual morphology to form. A simple geometrical argument based on bending of cylindrical microdomain and twisted packing of the bended microdomain can be given to explain the nonlinear chiral sensitivity of BCP* morphology, which further explains the non-automatic feature of chirality transfer in such system.

Sewer and oil pipeline spillage issues have become major causes of pollution in urban and rural areas usually caused by blockages in the water storage and drainage system, and oil spillage of underground oil pipelines. An effective way of avoiding this problem will be by deploying some mechanism to monitor these installations at each point in time and reporting unusual liquid activity to the relevant authorities for prompt action to avoid a flooding or spillage occurrence. This research work presents a low cost energy efficient liquid level monitoring technique using Radio Frequency Identification Technology. Passive UHF RFID tags have been designed, modelled and optimized. A simple rectangular tag, the P-shaped tag and S-shaped tag with UHF band frequency of operation (850-950 MHz) has been designed and modelled. Detailed parametric analysis of the rectangular tag is made and the optimised design results analysed and presented in HFSS and Matlab. The optimised rectangular tag designs are then deployed as level sensors in a gully pot. Identical tags were deployed to detect 4 distinct levels in alternate positions and a few inches in seperation distance within the gully pot height (Low, Mid, High and Ultra high). The radiation characteristic of tag sensors in deployment as modelled on HFSS is observed to show consistent performance with application requirements. An in-manhole chamber antenna for an underground communication system is analysed, designed, deployed and measured. The antenna covers dual-band impedance bandwidths (i.e. 824 to 960 MHz, and 1710 to 2170 MHz). The results show that the antenna prototype exhibits sufficient impedance bandwidth, suitable radiation characteristics, and adequate gains for the required underground wireless sensor applications. Finally, a Linearly Shifted Quadrifilar Helical Antenna (LSQHA) designed using Genetic Algorithm optimisation technique for adoption as an RFID reader antenna is proposed and investigated. The new antenna confirms coverage of the RFID bandwidth 860-960 MHz with acceptable power gain of 13.1 dBi. / Petroleum Technology Development Fund (PTDF) and National Space Research and Development Agency (NASRDA).

The objectives of this research work are to investigate, design and implement circularly-polarized antennas to be used for handheld satellite mobile communication and wireless sensor networks. Several antennas such as Quadrifilar Spiral Antennas (QSAs), two arm Square Spiral and stripline or coaxially-fed microstrip patch antennas are developed and tested. These antennas are investigated and discussed to operate at L band (1.61-1.6214GHz) and ISM band (2.4835-2.5GHz) A substantial size reduction was achieved compared to conventional designs by introducing special modifications to the antenna geometries. Most of the antennas are designed to produce circularly-polarized broadside-beam except for wireless sensor network application a circularly-polarized conical-beam is considered. The polarization purity and Specific Absorption Rate (SAR) of two dual-band antennas for satellite-mobile handsets next to the human head are investigated and discussed, using a hybrid computational method. A small distance between the head and the handset is chosen to highlight the effects of the relatively high-radiated power proposed from this particular antenna. A Genetic Algorithm in cooperation with an electromagnetic simulator has been introduced to provide fast, accurate and reliable solutions for antenna design structures. Circularly-polarized quadrifilar helical antenna handset and two air-dielectric microstrip antennas were studied. The capabilities of GA are shown as an efficient optimisation tool for selecting globally optimal parameters to be used in simulations with an electromagnetic antenna design code, seeking convergence to designated specifications. The results in terms of the antenna size and radiation performance are addressed, and compared to measurements and previously published data.

No description available.

No description available.