<p>This work explores a new method of force generation for flying robots on the sub-cm wingspan scale: resonant curved piezoelectric cantilevers created using completely parallel MEMS fabrication. It theorizes that because a resonating curved beam has a different drag coefficient on the upstroke than the downstroke, it should act as a fluid diode: a partial one-way gate for fluids, and thereby generate an asymmetric force over a symmetric one-degree-of-freedom flapping cycle. It develops a simplified model for the large-amplitude resonant mode of thin circular arcs by analytically extending the resonant mode shape of straight cantilevers, shows that this shape is a better fit to experimental data than previous models, and shows that it accurately predicts the resonant frequency. It uses this resonant mode to compute the force on flapping curved arcs under a wide range of amplitudes, Reynolds numbers, and arc angles using computational fluid dynamics (CFD) simulations, and extends the concept of a drag coefficient from steady-flow fluid mechanics to steady-state oscillatory fluid mechanics both for net force generation and power dissipation. It develops a framework to analyze the CFD results in the broader context of a complete robot, and uses this framework to determine priorities for material selection, robot size, and flapping shape, depending on desired robot application. It tests these theoretical predictions by creating prototype 7.6 mm wings out of 7.5 micrometer thick x-cut quartz and SU-8, after developing and implementing a method to smoothly thin x-cut quartz leaving the surface free of dielectric-compromising pits using reactive ion etching (RIE). Finally, it constructs a test chamber to measure the force, amplitude, and electrical parameters of the flapping wings under a variety of air pressures and demonstrates that the results are consistent with the theoretical predictions, indicating that this approach can in fact lead to successful flying microrobots.</p> / Doctor of Philosophy (PhD)

The application of auto focus, using an optical beam deflection technique, to existing live cell interferometry measurements was developed and examined. The benefit to relevant experiments, currently being performed, is shown as well as its performance across various magnifications. Enough information is given so that the system can be reproduced to fit any end users needs.

The work in this thesis is divided in three parts. In part one we developed electrodeposition method of Nickel Nanowire in commercial AAO template in constant current (Galvanostatic) mode, further we tried to estimate the growth rate from theory, from saturation magnetization and direct measurement from SEM image. In part two we focused on using the Vector Network Analyzer (VNA) to measure the Ferromagnetic Resonance (FMR))of various magnetic Nanowire arrays. We employed different measurement geometries using microstripline and coplanar waveguide as microwave transmission lines. In part three our aim was to study the magnetic properties of complex ferromagnetic system, especially the effect of interactions on dynamic properties of magnetic nanostructures (nanowire arrays and exchange biased ferromagnetic-antiferromagnetic multilayers). Our effort was centered on using ferromagnetic resonance to understand the dynamic response of these systems.

To build novel electronic noses for mimicking biological olfactory systems that consist of olfactory receptor arrays with large surface area and massively-diversified chemical reactivity, three dimensional (3D) vertical aligned ZnO nanowire arrays were employed as active materials for gas detection. ZnO nanowire arrays share 3D structures similar to mammalian olfactory receptor arrays, with thousands of vertical nanowires providing a high reception area which can significantly enhance the sensors’ sensitivity. Meanwhile, with different material decorations (such as SnO2, In2O3, WO3 and polymers), each array of nanowires can produce a distinguishable response for each separate analyte, which would provide a promising way to improve the selectivity. Both patterned grown well-aligned and wafer size random-distributed 3D nanowire array sensing devices are investigated. Several different types of gas sensors have been investigated in this dissertation. Metal oxide semiconductor gas sensors based on 3D metal oxides/ZnO vertical nanowire arrays have detected NO2 and H2S down to ppb level, and five gases of NO2, H2S, H2, NH3, and CO have been discriminated. Active self-powered gas sensors based on 3D metal oxides/ZnO vertical nanowire arrays have been successfully fabricated and worked well for H2S and NO2 detection. With the decoration by mixture of PEDOT polymer with metal oxide nanoparticles, ZnO vertical nanowire array gas sensors have fast response and recovery time as well as good sensitivity to volatile organic gases of acetone, methanol and ethanol. A novel ionization sensor also has been built by ZnO vertical nannowire arrays, and this device could be able to ionize air under safety operation voltage.

acase@tulane.edu

<p>The main objective of this thesis is to use available knowledge about a process and combine this with measurement data from the same process to extract more information about the process. The combination of knowledge and measurement data is referred to as Multi Sensor Data Fusion, MSDF. This added information is then used to control the process towards a specified goal.</p><p>The process studied in this thesis is the process of drilling wells in a petroleum reservoir, while the oil is flowing from the reservoir. In the petroleum industry, this is defined as underbalanced drilling (UBD), where the bottom hole pressure (BHP) in the well is below the pore pressure in the reservoir.</p><p>Detailed knowledge of the process is of paramount importance when using multi sensor data fusion. Due to this, various process modelling efforts are examined and evaluated, from simple relations between parameters to a finite-element approach of modelling the fluid flow in the well during drilling. Several sensors are used in the various cases, and existing sensors such as pressure sensors and flow sensors are the main data source in the analysis. Future scenario with sensors such as pressure arrays and non-intrusive multiphase flow meters are evaluated. In addition, new positions of existing sensor systems are discussed.</p><p>The methods available for fusing the knowledge of the process represented as models together with the available data is ranging from artificial intelligent methods such as neural networks, to methods incorporating statistical analysis such as various Kalman filters. History matching techniques using gradient techniques are also examined.</p><p>The migration of reservoir fluids into the well during UBD influences the BHP of the well. The results in the thesis show that this reservoir influx can be calculated by estimating some of the important reservoir parameters such as reservoir pore pressure or reservoir permeability. These reservoir parameters can be estimated most efficiently by performing an MSDF using a detailed nonlinear model of the well and reservoir dynamic behaviour together with real-time measurements of the fluid flow parameters such as fluid temperature, fluid pressure and fluid flow rates. The unscented Kalman filter shows the best performance when evaluating both estimation accuracy and computational requirements.</p><p>Regarding available instrumentation for use during UBD, the analysis shows that there is a major potential in introducing new sensors. As new data transmission methods are emerging and making data from sensors distributed along the drillstring available, this can generate a shift in paradigm regarding real-time analysis of reservoir properties during drilling.</p><p>Controlling the process is an important usage of the information gained from the MSDF analysis. Various control methods for controlling the most important process variables are examined and evaluated. The results show that acceptable pressure control can be obtained when using the choke valve opening as the primary control parameter. However, the choke valve operation has to be closely coordinated with drilling fluid flow rate adjustments. The choke valve opening control is able to compensate for pressure variations during the whole drilling operation.</p><p>A suggested nonlinear model predictive control algorithm gives best results when looking at the control accuracy, and can easily be expanded to handle multiple control inputs and system constraints. This control algorithm uses a detailed model of the well and reservoir dynamics. The Levenberg-Marquardt algorithm is used to calculate the optimal future control variables. The main drawback of the control algorithm is computational burden. A linear control algorithm, which also is evaluated, uses less computational resources, but has less control accuracy and is more difficult to expand into a multivariable control system.</p><p>Recommendations for further work are to expand the suggested model predictive control algorithm to handle more control inputs, while reducing the computational burden by incorporating low-order models for describing the future behaviour of the well.</p>

<p>This master thesis was carried out at the Department of Aerodynamics and Flight Mechanics at Saab Aerosystems, Linköping, Sweden. It makes up the author’s final work prior to graduation in the field Applied Physics and Electrical Engineering at the Department of Electrical Engineering at The Linköping Institute of Technology (LiTH), Linköping, Sweden.</p><p> </p><p>The objective of the paper was to study a non-uniform helicopter rotor downwash model in forward flight for the unmanned helicopter Skeldar, which is under development at Saab. The main task was to compare the mentioned model with today’s uniform downwash model in order to find differences and similarities. This was done both from a modeling and a controlling perspective. To start with, an introduction is given which is followed by a helicopter theory chapter. The following three chapters deal with the theory of induced velocity, the helicopter model and the Linear Quadratic Regulator (LQR). Finally, the results are presented and discussed.</p><p> </p><p>The downwash models were derived using Momentum Theory (MT) and Blade Element Theory (BET). These two theories were combined in order to find a connection between the induced velocity and the rotor thrust coefficient. The non-uniform downwash model that was studied is proposed by Pitt & Peters and describes a linear variation of the induced velocity in the longitudinal plane.</p><p> </p><p>For the control, a LQ-regulator was chosen since it is easily implemented in MATLAB and it stabilizes the plant model by feedback and consequently creates a robust system. Before the controller could be implemented, the models had to be reduced and the states had to be divided into longitudinal and lateral ones.</p><p> </p><p>The comparison between the open systems clearly shows that differences in the inflow models propagate to all states and consequently the helicopter behaves differently in all planes. Great discrepancies are apparent for the angular velocities <em>p</em> and <em>q</em>. For Pitt & Peters’ model those states are believed to be strongly affected by the system’s positive real pole, causing a rather unstable behavior. When the systems were closed by feedback, the differences were reduced dramatically. Pitt & Peters’ model resulted in greater overshoots than the uniform model, but the overall behavior of all states was rather similar for the two models.</p><p> </p><p>It is concluded, that the adaption of Pitt & Peters’ inflow model does not make any substantial difference when a controller is implemented. The differences between the open systems, however, are reason enough to question Pitt & Peters’ model. In order to evaluate the non-uniform model properly, it has to be compared to suitable flight data which is still lacking up to this date.</p>

<p>Localization and magnetic properties of electrons in a thin, cyclic quasi one-dimensional GaAs wire with a central potential barrier were studied using the Hartree-Fock and LSDA (Local Spin Density Approximation, exchange only) and compared to more time consuming Quantum Monte-Carlo calculations. Within LSDA, evidence of true localization was found as well as evidence for the existence of both ferromagnetic as well as anti-ferromagnetic states. Also signs of two-dimensional spin localization was found, without associated localized electrons.</p>

<p>The phenomenon of spontaneous growth of metallic filaments, known as whisker growth has been studied. Until now the problem that Sn whisker growth could cause in electronics by making shorts has been partially prohibited as Pb and Sn have been used together in solders and coating. Regulations restricting Pb use in electronics has made the need to understand Sn whisker growth more current.</p><p>It is shown that whiskers are highly resilient towards vibrations and shocks. A Sn whisker is shown to withstand 55 mA.</p><p>Results show that reflowing of the Sn plated surface does not prevent extensive whisker growth. Results show that intermetallic compound growth can not be the sole reason behind whisker growth. Nickel and silver underlayer have been shown not to prevent whisker growth, but perhaps restrain whisker growth. Heat treatment damped whisker growth considerably. It is judged that base material CuSn6 is less prone to show whisker growth than CuSn0.15 and E-Cu58.</p>

<p>This study is concerned with the negative effects of wearing corrective lenses while using eye trackers, and the correction of those negative effects. The eye tracker technology studied is the video based real-time Pupil Center and Corneal Reflection method. With a user study, the wearing of eyeglasses is shown to cause 20 % greater errors in the accuracy of an eye tracker than when not wearing glasses. The error is shown to depend on where on the eye tracker viewing area the user is looking.</p><p>A model for ray refraction when wearing glasses was developed. Measurements on distortions on the image of the eye caused by eyeglass lenses were carried out. The distortions were analyzed with eye tracking software to determine their impact on the image-to-world coordinates mapping. A typical dependence of 1 mm relative distance change on cornea to 9 degrees of visual field was found.</p><p>The developed mathematical/physiological model for eyeglasses focuses on artifacts not possible to accommodate for with existing calibration methods, primarily varying combinations of viewing angles and head rotations. The main unknown in the presented model is the effective strength of the glasses. Automatic identification is discussed. The model presented here is general in nature and needs to be developed further in order to be a part of a specific application.</p><p> </p>