This thesis presents an axisymmetric numerical model to simulate interfacial flows near a sharp corner, where contact line pinning occurs. The method has been used to analyze drop imbibition into a capillary. To evaluate the performance of the numerical method, for a liquid drop initially placed partially within a capillary, a thermodynamic model has also been developed, to predict equilibrium states. The first part of this thesis presents an axisymmetric VoF algorithm to simulate interfacial flows near a sharp corner. (1) A new method to exactly calculate the normals and curvatures of any circle with a radius as small as the grid size is presented. This method is a hybrid least squares height function technique which fits a discretized osculating circle to a curve, from which interface normals and curvature can be evaluated. (2) A novel technique for applying the contact angle boundary condition has been devised, based on the definition of an osculating circle near a solid phase. (3) A new flux volume construction technique is presented, which can be applied to any split advection scheme. Unlike the traditional approach where the flux volumes are assumed rectangular, the new flux volumes can be either trapezoidal or triangular. The new technique improves the accuracy and consistency of the advection scheme. (4) Explicit PLIC reconstruction expressions for axisymmetric coordinates have been derived. (5) Finally, a numerical treatment of VoF for contact line motion near a sharp corner is presented, base on the idea of contact line pinning and an edge contact angle. The second part of the thesis is on the imbibition of a drop into an open capillary. A thermodynamic analysis based on minimization of an interfacial surface energy function is presented to predict equilibrium configurations of drops. Based on the drop size compared to the hole size, the equilibrium contact angle, and the geometry of the capillary, the drop can be totally imbibed by the capillary, or may not wet the capillary at all. The thesis concludes with application of the numerical scheme to the same problem, to examine the dynamics of wetting or dewetting of a capillary. All of the simulations yield results that correspond to the equilibrium states predicted by the thermodynamic analysis, but offer additional insight on contact line motion and interface deformation near the capillary edge.

Coupled shape oscillations and translational motion of an incompressible gas bubble in a liquid container in response to forced vibration is studied numerically. Bond number (Bo) and the ratio of the vibration amplitude to the bubble diameter (A/D) are found to be the governing non-dimensional numbers. Bubble response is studied in both 2D and 3D. Different schemes are used for 2D and 3D simulations. In 2D, the flow solver is coupled to a Volume of Fluid (VOF) algorithm to capture the interface between the two phases while in 3D the interface is captured using a level set algorithm. The oscillation outcome ranges from small amplitude and regular oscillations for small Bo and A/D to large amplitude, nonlinear, and chaotic oscillations for large Bo and A/D. Chaotic behavior occurs due to the coupling between the nonlinear shape oscillations and large amplitude oscillatory translational motion. By further increase of the forcing, the inertia of the liquid results in the formation of a liquid jet which penetrates within the bubble core and pierces the bubble and a toroidal bubble shape is formed. The toroidal bubble shape then goes through large amplitude shape oscillations and smaller bubbles are formed. A summary of the 3D simulations provides a map which shows the bubble oscillation outcome as a function of Bo and A/D. The interaction between two bubbles is studied in 2D as well and the effect of vibration amplitude, frequency and liquid to gas density ratio on the interaction force is investigated.

In frequency-domain photothermal radiometry (FD-PTR) a low-power intensity-modulated optical excitation generates thermal-wave field inside the sample and the subsequent infrared radiation from the sample is analyzed to detect material’s inhomogeneities. The non-contact nature of FD-PTR makes it very suitable for non-destructive evaluation of broad range of materials. Moreover, the methodology is based on intrinsic contrast of light absorption which can be used as a diagnostic tool for inspection of malignancy in biological tissues. Nevertheless, the bottom line is that the physics of heat diffusion allows for a highly damped and dispersive propagation of thermal-waves. As a result, the current FD-PTR modalities suffer from limited inspection depth and poor axial/depth resolution. The main objective of this thesis is to show that using alternative types of modulation schemes (such as linear frequency modulation and binary phase coding) and radar matched filter signal processing, one can obtain localized responses from inherently diffuse thermal wave fields. In this thesis, the photothermal responses of turbid, transparent, and opaque media to linear frequency modulated and binary phase coded excitations are analytically derived. Theoretical simulations suggest that matched-filtering in diffusion-wave field acts as constructive interferometry, localizing the energy of the long-duty excitation under a narrow peak and allowing one to construct depth resolved images. The developed technique is the diffusion equivalent of optical coherence tomography and is named thermal coherence tomography. It was found that the narrow-band binary phase coded matched filtering yields optimal depth resolution, while the broad-band linear frequency modulation can be used to quantify material properties through the multi-parameter fitting of the experimental data to the developed theory. Thermophotonic detection of early dental caries is discussed in detail as a potential diagnostic application of the proposed methodologies. The performance of the diagnostic system is verified through a controlled demineralization protocol as well as in teeth with natural caries.

This thesis presents a novel design paradigm of mobile robots: the Hybrid Mobile Robot system. It consists of a combination of parallel and serially connected links resulting in a hybrid mechanism that includes a mobile robot platform for locomotion and a manipulator arm for manipulation, both interchangeable functionally. All state-of-the-art mobile robots have a separate manipulator arm module attached on top of the mobile platform. The platform provides mobility and the arm provides manipulation. Unlike them, the new design has the ability to interchangeably provide locomotion and manipulation capability, both simultaneously. This was accomplished by integrating the locomotion platform and the manipulator arm as one entity rather than two separate and attached modules. The manipulator arm can be used as part of the locomotion platform and vice versa. This paradigm significantly enhances functionality. The new mechanical design was analyzed with a virtual prototype that was developed with MSC Adams Software. Simulations were used to study the robot’s enhanced mobility through animations of challenging tasks. Moreover, the simulations were used to select nominal robot parameters that would maximize the arm’s payload capacity, and provide for locomotion over unstructured terrains and obstacles, such as stairs, ditches and ramps. The hybrid mobile robot also includes a new control architecture based on embedded on-board wireless communication network between the robot’s links and modules such as the actuators and sensors. This results in a modular control architecture since no cable connections are used between the actuators and sensors in each of the robot links. This approach increases the functionality of the mobile robot also by providing continuous rotation of each link constituting the robot. The hybrid mobile robot’s novel locomotion and manipulation capabilities were successfully experimented using a complete physical prototype. The experiments provided test results that support the hypothesis on the qualitative and quantitative performance of the mobile robot in terms of its superior mobility, manipulation, dexterity, and ability to perform very challenging tasks. The robot was tested on an obstacle course consisting of various test rigs including man–made and natural obstructions that represent the natural environments the robot is expected to operate on.

Introduced in 1991, solid ink color printing technology is widely used in the office printing, prepress proofing, and wide format color printing markets. Ink droplets are first deposited on a rotating drum and then transferred to paper to reproduce images with high print quality. The objective of this thesis is to develop scientific knowledge of ink droplet deposition, which is needed for precise image buildup on the drum surface. The first problem studied in the thesis is droplet formation from the printhead with varied working voltages and jetting frequencies. Attention is paid to the formation of satellite droplets, the contraction of ligaments and the startup of high frequency jetting. The jetting conditions for obtaining consistent droplet generation with satellites are determined. A theoretical model is developed to predict the lifetime of ligaments. The second problem we studied is the deposition of single droplets on solid surfaces. The surface texture and final shape of deposited droplets are correlated with impact conditions, which include printhead temperature, substrate temperature, distance from printhead to substrate, and the type of substrate surface. An analytical model is developed to evaluate the interaction of oscillation and viscous damping in the droplet during impact. The third problem covered in the thesis is the deposition of multiple ink droplets on the drum surface. Interaction between droplets causes drawback effect, which degrades print quality. We define a parameter to quantify the drawback effect with varied deposition conditions. A simple model is provided to predict conditions for making continuous lines based on the results of two ink droplets deposition. To understand the hydrodynamics in causing drawback effect, a series of experiments using large liquid droplets are carried out. Focus is put on the evolution of spread length and dynamics of contact line. Correlations for maximum and minimum spread lengths are developed, which are used to reveal the cause of drawback effect in the deposition of ink droplets.

Two new mechanisms of droplet splashing and breakup during impact have been identified and analyzed. One is the internal rupture of spreading droplet film through formation of holes, and the other is the splashing of droplet due to its freezing during spreading. The mechanism of film rupture was investigated by two different methods. In the first method, circular water films were produced by directing a 1 mm diameter water jet onto a flat, horizontal plate for 10 ms. In the second method, films were produced by making 0.6 mm water droplets impact a solid surface mounted on the rim of a rotating flywheel. Substrate wettability was varied over a wide range, including superhydrophobic. In both cases, the tendency to film rupture first increased and then decreased with contact angle. A thermodynamic stability analysis predicted this behavior by showing that films would be stable at very small or very large contact angle, but unstable in between. Film rupture was also found to be promoted by increasing surface roughness or decreasing film thickness. To study the effect of solidification, the impact of molten tin droplets (0.6 mm diameter) on solid surfaces was observed for a range of impact velocities (10 to 30 m/s), substrate temperatures (25 to 200°C) and substrate materials (stainless steel, aluminum and glass) using the rotating flywheel apparatus. Droplets splashed extensively on a cold surface but on a hot surface there was no splashing. Splashing could be completely suppressed by either increasing the substrate temperature or reducing its thermal diffusivity. An analytical model was developed to predict this splashing behavior. The above two theories of freezing-induced splashing and film rupture were combined to predict the morphology of splats typically observed in a thermal spray process. A dimensionless solidification parameter, which takes into account factors such as the droplet diameter and velocity, substrate temperature, splat and substrate thermophysical properties, and thermal contact resistance between the two, was developed. Predictions from the model were compared with a wide range of experimental data and found to agree well.

The mechanical properties of biomaterials play important roles in performing their specialized functions: synthesizing, storing, and transporting biomolecules; maintaining internal structures; and responding to external environments. Besides biological cells, there are also many other biomaterials that are highly deformable and have a diameter between 1μm and 100μm, comparable to that of most biological cells. For example, many polymeric microcapsules for drug delivery use are spherical particles of micrometers size. In order to mechanically characterize individual micrometer-sized biomaterials, the capability of capturing high-resolution and low-magnitude force feedback is required. This research focuses on the development of micro devices and experimental techniques for quantifying the mechanical properties of alginate-chitosan microcapsules. The micro devices include microelectromechanical systems (MEMS) capacitive force sensors and force-feedback microgrippers, capable of measuring sub-μN forces. Employing the MEMS devices, systems were constructed to perform the micro-scale compression testing of microcapsules. The force sensors are capable of resolving forces up to 110μN with a resolution of 33.2nN along two independent axes. The force sensors were applied to characterizing the mechanical properties of hydrogel microparticles without assembling additional end-effectors. The microcapsules were immobilized by a PDMS holding device and compressed between the sensor probe and holding device. Young's modulus values of individual microcapsules with 1%, 2%, and 3% chitosan coating were determined through the micro-scale compression testing in both distilled deionized (DDI) water and pH 7.4 phosphate buffered saline (PBS). The Young's modulus values were also correlated to protein release rates. Instead of compressing the microcapsule against the wall of the holding device, a force-feedback MEMS microgripper with the capability of directly compressing the microcapsule between two gripping arms has been used for characterizing both the elastic and viscoelastic properties of the microcapsules during micromanipulation. The single-chip microgripper integrates an electrothermal microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5nN) and the other for gripping force measurements (force resolution: 19.9nN). Through nanoNewton force measurements, closed-loop force control, and visual tracking, the system quantified the Young's modulus values and viscoelastic parameters of alginate microcapsules, demonstrating an easy-to-operate, accurate compression testing technique for characterizing soft, micrometer-sized biomaterials.

Adaptive optics (AO) systems make use of active optical elements, namely wavefront correctors, to improve the resolution of imaging systems by compensating for complex optical aberrations. Recently, magnetic fluid deformable mirrors (MFDM) were proposed as a novel type of wavefront correctors that offer cost and performance advantages over existing wavefront correctors. These mirrors are developed by coating the free surface of a magnetic fluid with a thin reflective film of nano-particles. The reflective surface of the mirrors can be deformed using a locally applied magnetic field and thus serves as a wavefront corrector. MFDMs have been found particularly suitable for ophthalmic imaging systems where they can be used to compensate for the complex aberrations in the eye that blur the images of the internal parts of the eye. However, their practical implementation in clinical devices is hampered by the lack of effective methods to control the shape of their deformable surface. The research work reported in this thesis presents solutions to the surface shape control problem in a MFDM that will make it possible for such devices to become integral components of retinal imaging AO systems. The first major contribution of this research is the development of an accurate analytical model of the dynamics of the mirror surface shape. The model is developed by analytically solving the coupled system of fluid-magnetic equations that govern the dynamics of the surface shape. The model is presented in state-space form and can be readily used in the development of surface shape control algorithms. The second major contribution of the research work is a novel, innovative design of the MFDM. The design change was prompted by the findings of the analytical work undertaken to develop the model mentioned above and is aimed at linearizing the response of the mirror surface. The proposed design also allows for mirror surface deflections that are many times higher than those provided by the conventional MFDM designs. A third contribution of this thesis involves the development of control algorithms that allowed the first ever use of a MFDM in a closed-loop adaptive optics system. A decentralized proportional-integral (PI) control algorithm developed based on the DC model of the wavefront corrector is presented to deal mostly with static or slowly time-varying aberrations. To improve the stability robustness of the closed-loop AO system, a decentralized robust proportional-integral-derivative (PID) controller is developed using the linear-matrix-inequalities (LMI) approach. To compensate for more complex dynamic aberrations, an Hinf controller is designed using the mixed-sensitivity Hinf design method. The proposed model, design and control algorithms are experimentally tested and validated.

This thesis highlights a comprehensive research for the cell nucleation, growth and coarsening mechanisms during plastic foaming processes. Enforced environmental regulations have forced the plastic foam industry to adopt alternative blowing agents (e.g., carbon dioxide, nitrogen, argon and helium). Nevertheless, the low solubilities and high diffusivities of these viable alternatives have made the production of foamed plastics to be non-trivial. Since the controls of the cell nucleation, growth and coarsening phenomena, and ultimately the cellular morphology, involve delicate thermodynamic, kinetic, and rheological mechanisms, the production of plastics foams with customized cell morphology have been challenging. In light of this, the aforementioned phenomena were investigated through a series of theoretical studies, computer simulations, and experimental investigations. Firstly, the effects of processing conditions on the cell nucleation phenomena were studied through the in-situ visualization of various batch foaming experiments. Most importantly, these investigations have led to the identification of a new heterogeneous nucleation mechanism to explain the inorganic fillers-enhanced nucleation dynamics. Secondly, a simulation scheme to precisely simulate the bubble growth behaviors, a modified heterogeneous nucleation theory to estimate the cell nucleation rate, and an integrated model to simultaneously simulate cell nucleation and growth processes were developed. Consequently, through the simulations of the cell nucleation, growth, and coarsening dynamics, this research has advanced the understanding of the underlying sciences that govern these different physical phenomena during plastic foaming. Furthermore, the impacts of various commonly adopted approximations or assumptions were studied. The end results have provided useful guidelines to conduct computer simulation on plastic foaming processes. Finally, an experimental research on foaming with blowing agent blends served as a case example to demonstrate how the elucidation of the mechanisms of various foaming phenomena would aid in the development of novel processing strategies to enhance the control of cellular structures in plastic foams.

Hydrogen (H2) enrichment of hydrocarbon fuels in lean premixed systems is desirable since it can lead to a progressive reduction in greenhouse-gas emissions, while paving the way towards pure hydrogen combustion. In recent decades, large-eddy simulation (LES) has emerged as a promising tool to computationally describe and represent turbulent combustion processes. However, a considerable complication of LES for turbulent premixed combustion is that chemical reactions occur in a thin reacting layer at small scales which cannot be entirely resolved on computational grids and need to be modelled. In this thesis, subfilter-scale (SFS) modelling for LES of lean H2-enriched methane-air turbulent premixed combustion was investigated. Two- and three-dimensional fully-compressible LES solvers for a thermally perfect reactive mixture of gases were developed and systematically validated. Two modelling strategies for the chemistry-turbulence interaction were pursued: the artificially thickened flame model with a power-law SFS wrinkling approach and the presumed conditional moment (PCM) coupled with the flame prolongation of intrinsic low-dimensional manifold (FPI) chemistry tabulation technique. Freely propagating and Bunsen-type flames corresponding to stoichiometric and lean premixed mixtures were considered. Validation of the LES solvers was carried out by comparing predicted solutions with experimental data and other published numerical results. Head-to-head comparisons of different SFS approaches, including a transported flame surface density (FSD) model, allowed to identify weaknesses and strengths of the various models. Based on the predictive capabilities of the models examined, the PCM-FPI model was selected for the study of hydrogen-enrichment of methane. A new progress of reaction variable was proposed to account for NO. The importance of transporting species with different diffusion coefficients was demonstrated, in particular for H2. The proposed approach was applied to a Bunsen-type configuration, reproducing key features observed in the experiments: the enriched flame was shorter, which is attributed to a faster consumption of the blended fuel; and the enriched flame displayed a broader two-dimensional curvature probability density function. Furthermore, reduced levels of carbon dioxide (CO2), increased levels of nitrogen monoxide (NO), and a slight increase in the carbon monoxide (CO) levels in areas of fully burned gas were predicted for the enriched flame.