This thesis lays the foundations for the development of a small autonomous coaxial helicopter. This is an helicopter with two propellers mounted on the same axis and revolving in opposite directions. To steer the helicopter, this thesis proposes a mechanism that moves the helicopter’s centre of mass. Although such a mechanism has already been investigated experimentally in the literature, it has never been rigorously modeled, and a theoretical analysis has never been performed. This thesis, for the first time, presents an accurate mathematical model of the coaxial helicopter which takes into account the gyroscopic effects of the rotors, the reaction forces and torques exerted by the moving mass actuator on the helicopter body, and the fact that the inertia of the helicopter is time-varying. A nonlinear controller is rigorously derived which makes the helicopter hover at desired positions in three-space. A number of physical prototypes are discussed. None of them is capable of autonomous flight yet, but the experimental and simulation results provide reassurances that the proposed methodology is viable.

This thesis lays the foundations for the development of a small autonomous coaxial helicopter. This is an helicopter with two propellers mounted on the same axis and revolving in opposite directions. To steer the helicopter, this thesis proposes a mechanism that moves the helicopter’s centre of mass. Although such a mechanism has already been investigated experimentally in the literature, it has never been rigorously modeled, and a theoretical analysis has never been performed. This thesis, for the first time, presents an accurate mathematical model of the coaxial helicopter which takes into account the gyroscopic effects of the rotors, the reaction forces and torques exerted by the moving mass actuator on the helicopter body, and the fact that the inertia of the helicopter is time-varying. A nonlinear controller is rigorously derived which makes the helicopter hover at desired positions in three-space. A number of physical prototypes are discussed. None of them is capable of autonomous flight yet, but the experimental and simulation results provide reassurances that the proposed methodology is viable.

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<p>High power impulse magnetron sputtering (HiPIMS) is a novel pulsed power technique. In HiPIMS, high power pulses are applied to the target for short duration with a low duty factor. It provides a high degree of ionization of the sputtered material (in some cases up to 90%) and a high plasma density (10¹⁹ m^-3) which results in densification of the grown films. Recently a large side-transport of the sputtered material has been discovered, meaning that the sputtered material is transported radially outwards, parallel to the cathode surface. In this research, we use this effect and study the side-ways deposition of thin films. We designed a new magnetron sputtering system, consisting of two opposing magnetrons with similar polarity. Ti films were grown on Si using the side-ways transport of the sputtered material. Scanning electron microscope was employed to investigate the microstructure of the grown films. Optical emission spectroscopy (OES) measurements were made for investigating the ionized fraction of the sputtered material while Langmuir probe measurements were made for evaluating the plasma parameters such as electron density. The conclusion is that the system works well for side-ways deposition and it can be useful for coating the interior of cylindrically shaped objects. It is a promising technique that should be used in industry.</p>

High power impulse magnetron sputtering (HiPIMS) is a novel pulsed power technique. In HiPIMS, high power pulses are applied to the target for short duration with a low duty factor. It provides a high degree of ionization of the sputtered material (in some cases up to 90%) and a high plasma density (1019 m-3) which results in densification of the grown films. Recently a large side-transport of the sputtered material has been discovered, meaning that the sputtered material is transported radially outwards, parallel to the cathode surface. In this research, we use this effect and study the side-ways deposition of thin films. We designed a new magnetron sputtering system, consisting of two opposing magnetrons with similar polarity. Ti films were grown on Si using the side-ways transport of the sputtered material. Scanning electron microscope was employed to investigate the microstructure of the grown films. Optical emission spectroscopy (OES) measurements were made for investigating the ionized fraction of the sputtered material while Langmuir probe measurements were made for evaluating the plasma parameters such as electron density. The conclusion is that the system works well for side-ways deposition and it can be useful for coating the interior of cylindrically shaped objects. It is a promising technique that should be used in industry.

The goal for this thesis was to apply electrospun biomimetic coatings on implantable glucose biosensors and test their efficacy as mass-transport limiting and tissue engineering membranes, with special focus on achieving reliable and long sensing life-time for biosensors when implanted in the body. The 3D structure of electrospun membranes provides the unique combination of extensively interconnected pores, large pore volumes and mechanical strength, which are anticipated to improving sensor sensitivity. Their structure also mimics the 3D architecture of natural extracellular matrix (ECM), which is exploited to engineer tissue responses to implants. A versatile vertical electrospinning setup was built in our workshop and used to electrospin single polymer - Selectophore™ polyurethane (PU) and two polymer (coaxial) – PU and gelatin (Ge) fibre membranes. Extensive studies involving optimization of electrospinning parameters (namely solvents, polymer solution concentration, applied electric potential, polymer solution feed flow rate, distance between spinneret and collector) were carried out to obtain electrospun membranes having tailorable fibre diameters, pore sizes and thickness. The morphology (scanning electron microscopy (SEM) and optical microscopy), fibre diameter (SEM), porosity (bubble point and gravimetry methods), hydrophilicity (contact angle), solute diffusion (biodialyzer) and uniaxial mechanical properties (tensile tester) were used to characterize certain shortlisted electrospun membranes. Static and dynamic collector configurations for electrospinning fibres directly on sensor surface were optimized of which the dynamic collections system helped achieve snugly fit membranes of uniform thickness on the entire surface of the sensor. The biocompatibility and the in vivo functional efficacy of electrospun membranes off and on glucose biosensors were evaluated in rat subcutaneous implantation model. Linear increase in thickness of electrospun membranes with increasing electrospinning time was observed. Further, the smaller the fibre diameter, smaller was the pore size and higher was the fibre density (predicted), the hydrophilicity and the mechanical strength. Very thin membranes showed zero-order (Fickian diffusion exponent ‘n’ ~ 1) permeability for glucose transport. Increasing membrane thickness lowered ‘n’ value through non-Fickian towards Fickian (‘n’ = 0.5) diffusion. Thin electrospun PU membranes (~10 μm thick) did not affect, while thicknesses between 20 and 140 μm all decreased sensitivity of glucose biosensor by about 20%. PU core - Ge shell coaxial fibre membranes caused decrease in ex vivo sensitivity by up to 40%. The membranes with sub-micron to micron sized pore sizes functioned as mass-transport limiting membranes; but were not permeable to host cells when implanted in the body. However, PU-Ge coaxial fibre membranes, having <2 μm pore sizes, were infiltrated with fibroblasts and deposition of collagen in their pores. Such tissue response prevented the formation of dense fibrous capsule around the implants, which helped improve the in vivo sensor sensitivity. To conclude, this study demonstrated that electrospun membrane having tailorable fibre diameters, porosity and thickness, while having mechanical strength similar to the natural soft tissues can be spun directly on sensor surfaces. The membranes can function as mass-transport limiting membranes, while causing minimal or no effect on sensor sensitivity. With the added bioactive Ge surfaces, evidence from this study indicates that reliable long-term in vivo sensor function can be achieved.

Rupture of the anterior cruciate ligament (ACL) is one of the most common ligamentous injuries of the knee. Post rupture, the ACL does not heal on itself due to poor vasculature and hence surgical intervention is required to treat the ACL. Current surgical management of ACL rupture consists of reconstruction with autografts or allografts. However, the limitations associated with these grafts have prompted interest in tissue engineered solutions that combine cells, scaffolds and stimuli to facilitate ACL regeneration. This thesis describes a ligament tissue engineering strategy that involves incorporating biomolecules within fibers-based electrospun meshes which mimics the extra-cellular matrix microarchitecture of ligament. However, challenges exist with incorporation of biomolecules. Therefore, the goal of this research project was to develop two techniques to incorporate biomolecules within electrospun meshes: (1) co-axially electrospinning fibers that support surface-grafting of biomolecules, and (2) co-axially electrospinning fibers decorated with biomolecule-loaded microspheres. In the first approach, chitosan was co-axially electrospun on the shell side of poly caprolactone (PCL) and arginine-glycine-aspartate (RGD) was attached to the electrospun meshes. Bone marrow stromal cells (BMSCs) attached, spread and proliferated on these meshes. In the second approach, fluorescein isothiocyanate labelled bovine serum albumin (FITC-BSA) loaded chitosan-alginate (CS-AL) microspheres were fabricated. The effects of cation to alginate ratio, type of alginate and concentration of CaCl2 on microsphere size, FITC-BSA loading and release were systematically evaluated. The CS-AL microspheres were then incorporated into the sheath phase of co-axially electrospun meshes to achieve microsphere-decorated fiber composite meshes. The results from these model study suggest that both approaches are tractable for incorporating biomolecules within fibers-based electrospun meshes. Both these approaches provide platform for future studies that can focus on ligament-relevant biomolecules such as FGF-2 and GDF-5. / Master of Science

The efficient and enhanced mixing of heat and incoming reactants is achieved in modern gas turbine systems by employing swirling flows. This is realized by a low velocity region (internal recirculation zone -IRZ) zone resulting from vortex breakdown phenomenon. Besides, IRZ acts as effective flame holder/stabilization mode. Double concentric swirling jet is employed in plethora of industrial applications such as heat exchange, spray drying and combustion. As such, understanding essential features of vortex breakdown induced IRZ and its acoustic response in swirling flow/flame is important in thermo-acoustic instability studies. The key results of the present experimental investigation are discussed in four parts. In the first part, primary transition (sub-critical states) from a pre-vortex breakdown (Pre-VB) flow reversal to a fully-developed central toroidal recirculation zone (CTRZ) in a non-reacting, double-concentric swirling jet configuration is discussed when the swirl number is varied in the range 0.592 S 0.801. This transition proceeds with the formation of two intermediate, critical flow regimes. First, a partially-penetrated vortex breakdown bubble (VBB) is formed that indicates the first occurrence of an enclosed structure resulting in an opposed flow stagnation region. Second, a metastable transition structure is formed that marks the collapse of inner mixing vortices. In this study, the time-averaged topological changes in the coherent recirculation structures are discussed based on the non-dimensional modified Rossby number (Rom) which appears to describe the spreading of the zone of swirl influence in different flow regimes. The second part describes a secondary transition from an open-bubble type axisymmetric vortex breakdown (sub-critical states) to partially-open bubble mode (super-critical states) through an intermediate, critical regime of conical sheet formation for flow modes Rom ≤ 1 is discussed when the swirl number (S) is increased beyond 0.801. In the third part, amplitude dependent acoustic response of above mentioned sub and supercritical flow states is discussed. It was observed that the global acoustic response of the sub-critical VB states was fundamentally different from their corresponding super-critical modes. In particular, with a stepwise increase in excitation amplitude till a critical value, the sub-critical VB topology moved downstream and radially outward. Beyond a critical magnitude, the VB bubble transited back upstream and finally underwent radial shrinkage at the threshold excitation amplitude. On the other hand, the topology of the super-critical VB state continuously moved downstream and radially outwards and finally widened/fanned-out at threshold amplitude. In the final part, transition in time-averaged flame global flame structure is reported as a function of geometric swirl number. In particular, with a stepwise increase in swirl intensity, primary transition is depicted as a transformation from zero-swirl straight jet flame to lifted flame with blue base and finally to swirling seated flame. Further, a secondary transition is reported which consists of transformation from swirling seated flame to swirling flame with a conical tailpiece and finally to highly-swirled near blowout ultra-lean flame. For this purpose, CH* chemiluminescence imaging and 2D PIV in meridional planes were employed. Three baseline fuel flow rates through the central fuel injection pipe were considered. For each of the fuel flow cases (Ref), six different co-airflow rate settings (Rea) were employed. The geometric swirl number (SG) was increased in steps from zero till blowout for a particular fuel and co-airflow setting. A regime map (SG vs Rea) depicting different regions of flame stabilization were then drawn for each fuel flow case. The secondary transformation is explained on the basis of physical significance of Rom.

Modelling of cerebrospinal fluid flow is important for understanding its influence on central nervous system, especially spinal cord. One of the reasons for its study is a disease called syringomyelia that probably develops as a result of severance of neural pathways by bubbles emerging during the propagation of pressure (expan- sion) disturbances through spinal cord and its surroundings. It is characterized by fluid-filled cavities in spinal cord. In this thesis, a model of fluid-filled co-axial elastic tubes is proposed that can help us simulate pressure disturbances propa- gation through spinal cord including its interactions and possible increase as the result of interferences or reflection. We derive quasi-one-dimensional governing equations in the form of nonlinear hyperbolic system of conservational laws and with its numerical solution by two-step Lax-Wendroff method with added artifi- cial viscosity we can quantitatively estimate almost twofold increase of pressure difference. 1