Numerical modeling using finite element method (FEM) is well-recognized as a powerful method for both engineers and researchers to solve boundary value problems. In the modeling of geotechnical problems, the analyses are often limited to simple static problems with either steady-state effective or total stress approach while the transient response (development and dissipation of excess pore water pressure, uex) is seldom considered. Besides, infinitesimal small soil deformation is usually assumed. The simulation is further complicated when the soil-structure interaction problems involve significant soil displacements; like a pile subject to negative skin friction (NSF) and a cone/pile penetration. However, conventional FEM analysis prematurely terminates due primarily to excessive mesh distortion. One could see that simulating a transient problem with large deformation and distortion remains a great challenge. In this study, advanced FE simulations are performed to give new insights into the problems of (1) a pile subject to NSF; and (2) a cone penetration. The transient response of the NSF problem is modeled with the fluid-coupled consolidation technique and geometric nonlinearity. The fluid-coupled cone penetration problem is modeled with a newly developed adaptive approach. The NSF and cone penetration simulations involve complex soil-structure interface modeling. Two types of modified interface responses are developed and verified which consider fluid coupling. The developed algorithm is applied to back analyze a case history of a pile subject to NSF induced by surcharge loading. Promising results were shown. Development of dragload and neutral plane (NP) with time is studied. NP locates at 75% of the pile embedded length (D) in long-term. Next, a parametric study is performed to investigate the influences of pile geometries, ground compressibility and loading conditions towards the pile responses. The long-term NP locates at around 0.55D to 0.65D in the studied engineering scenarios. The maximum downdrag can be up to 10% of the pile diameter. NP shifts upward when the head load increases. A simple design chart is proposed which helps engineers to estimate the long-term axial load distribution. An illustrative example is given to demonstrate the application and performance of the chart. The study is extended to investigate the cone penetration problem. An advanced adaptive method is developed and implemented into the FE package ABAQUS to resolve the problems of numerical instability, excessive mesh distortion and premature termination. The proposed method is verified by modeling a ground consolidation problem. Next, total stress back analysis of cone penetration is conducted with the proposed method. The development of cone factor predicted by the proposed method gives a better match with the laboratory result when comparing with the built-in ALE method. Next, the development and dissipation of uex during cone advancing with the proposed method and fluid-coupled technique is investigated. uex develops dramatically around the cone tip. The soil permeability is back calculated from the dissipation test and agrees well with the input value. It is believed that the construction effects of a press-in pile and the subsequence NSF on that pile can be modeled by utilizing the finding of this study. / published_or_final_version / Civil Engineering / Doctoral / Doctor of Philosophy

The field of robotics is in continuous development. Driving forces for the development are higher demands on robot accuracy and being more cost effective in the development process. To reduce costs, product development is moving towards virtual prototyping to enable early analysis and testing. This process demands realistic models and modelling is therefore of utmost importance. In the process of modelling high fidelity robot dynamics many different physical aspects have to be taken into account. Phenomena studied in this thesis stretch from where to introduce flexibilities, mechanical and dynamical coupling effects, and how to describe friction. By using a bottom up approach the effects are analysed individually to evaluate their contribution both to accuracy and computationalcomplexity. A strategy for how to model a flexible parallel linkage manipulator by introducing some crucial simplifications is presented. The elastic parameters are identified using a frequency domain identification algorithm developed in [Wernholt, 2007] and shows that the presented method works well up to a certain level of fidelity. Friction is modelled using empirically derived static and dynamic models. Evaluation of accuracy is conducted through identification of friction models for a real manipulator and it is seen that to capture all existing phenomena in low velocities  a dynamic model is needed. It is also seen that friction characteristics vary with temperature and a Kalman filter is suggested to adaptively estimate friction parameters. Finally an implementation of a flexible manipulator model using the software MapleSim is presented. The tool severely simplifies the process of modelling manipulators and enables for export to other environment such as simulation, optimization and control.

Railguns undergo excessive wear between the projectile and the electromagnetic launcher rails due to the hypersonic relative motion and very large current density involved. The wear effects at the small-scale on the rail-armature interface are not well known but need to be examined in order to support the development of a multishot launcher. Proposed contact regimes in the surface asperity interactions include solidsolid contact, liquid-metal lubricated contact, and arcing. In the present work, a modified Mesoscale Friction Tester (MFT) equipped with a probe and substrate was used to investigate experimentally the arcing and friction conditions that the rail-armature interface would experience. Copper probes with a range of radii of curvature were electrochemically etched and polished to submicrometer roughness. The minimum electrode distances for arcing to occur was found in air at atmospheric pressure and led to a modified Paschen curve where field emission of electrons was the dominant physical mechanism as opposed to Townsend avalanche of ionized gas. Arcing erosion was studied by varying the current, number of strikes, dwell time, and nearest electrode positions horizontally and vertically. Copper-copper friction with a constant normal force resulted in reduced wear when applying a constant current between the electrodes. / text

In this dissertation a class of stochastic differential equations is considered in the limit as mass tends to zero, called the Smoluchowski-Kramers limit. The Smoluchowski-Kramers approximation is useful in simplifying the dynamics of a system. For example, the problems of calculating of rates of chemical reactions, describing dynamics of complex systems with noise, and measuring ultra small forces, are simplified using the Smoluchowski-Kramers approximation. In this study, we prove strong convergence in the small mass limit for a multi-dimensional system with arbitrary state-dependent friction and noise coefficients. The main result is proved using a theory of convergence of stochastic integrals developed by Kurtz and Protter. The framework of the main theorem is sufficiently arbitrary to include systems of stochastic differential equations driven by both white and Ornstein-Uhlenbeck colored noises.

Copper polishing performance depends significantly on the properties of pads, slurries, conditioning, pressure, sliding velocity, slurry flow rate and temperature. A slight variance in each of these parameters will cause significant change in polising results. Various investigations are performed during this study to understand the effect of consumables and other main operating parameters on copper polishing in terms of removal rate, lubrication mechanism, and temperature transients. A modified two-step Langmuir-Hinshelwood removal rate model and a flash heating thermal model are developed to describe the removal mechanism.Results indicate that grain size plays an important role during copper polishing. Smaller grain size may enhance the chemical rate by providing a higher density of favorable reaction sites. However, denser grain boundaries due to smaller grain size may reduce the mechanical rate by increasing the probability of disruption of three body sliding contact. It is found that removal rate increases as slurry flow increases from 60 to 80 cc/min because higher slurry flow rate can provide more reactants to the system. Then removal rate decreases as slurry flow rate is further increased to 140 cc/min, which is due to synergic effects of the wafer temperature, slurry flow and slurry residence time under the wafer. The observed removal rate drop is thought to be due to the change of the wafer temperature at high sliding velocity.Experimental results from eight slurry formulations with various abrasize size and content show that in the case of 13-nm abrasives, the dominant tribological mechanism is that of partial lubrication, while in the case of 35-nm abrasives, the dominant tribological mechanism is that of boundary lubrication. COF values of the slurry with surfactant are generally lower that those of the slurry without surfactant.Logarithmic spiral positive pad, whose spiral groove is at a slight angle to the pad rotation direction, shows the highest average COF. The radial pad results in the smallest average COF. For all types of the grooved pads investigated, CMP is mechanically limited at low pV, and chemically limited at high pV. Non-Prestonian behavior is thought to be due to variations of COF and substrate temperatures.Dual Emission UV Light Enhanced Fluorescence results indicate that during polishing the wafer is tilted towards the center of the pad and that the extent of wafer tilt is a strong function of diamond disc pressure. Increasing the oscillation frequency of the diamond disc or the rotation rate decreases slurry film thickness. Slurry film thickness increases with the slurry flow rate. Also slurry film thickness strongly depends on diamond disc design.

This thesis is concerned with the development of a new measurement device for the realistic assessment of braking capability of landing airplanes for winter runways. Landing represents one of the most safety-critical phases of aircraft operation. Aircraft runway excursion incidents occur due to the unpredictability of the runway pavement condition. This is especially true during winter time when the runway is often covered by deformable contaminants. Several accidents are discussed that list the deteriorated condition of the runway pavement and the inability to accurately report this condition as the main causes for the excursions. The accuracy of the approaches currently adopted by the airport authorities around the world to monitor the condition of the runway pavement are evaluated. The conventional and current practice of runway condition monitoring is focused on identifying the maximum tire-pavement frictional drag mu value and often neglects the characteristics of actual aircraft brake control system as well as the comprehensive effects coming from various factors such as deformable contaminants on the winter runway. The braking availability tester discussed here is designed to take a different approach for the realistic assessment of braking availability of landing aircrafts. The main idea of this device is to mimic the braking operation of actual aircrafts as closely as possible by incorporating the same brake mechanism and the brake control system used in existing aircrafts. The architecture of the device from the ground-up including the suite of sensors, the structure of the wheel, important actuators, and the real-time brake control system are discussed in detail. More importantly, the operational principles of the braking availability tester (BAT) are outlined which help one understand how the system works together. A new method to quantify the braking availability on the runway using the BAT is explained. The testing and data collection strategy for implementing this technique is also outlined. Additionally, the results from preliminary tests are presented to verify the functionality of the BAT. The results are used to verify that the BAT operates with the brake control system of an aircraft. Finally, experimental data sets from dry and contaminated pavement testing are presented to show the effect of different weather conditions on the operation of the BAT.

This work studied the effects of step size, angle, spindle speed, and feed rate on the external surface roughening, orange peel effect, observed in single point incremental forming (SPIF). Experimental results were used to estimate models to categorize the extent of orange peel roughening based on visual inspection and on surface roughness measurements. Tests were performed at very high rotational speeds and feed rates and showed various influences on surface roughness, thickness distribution, and grain size. Friction at the tool-sheet interface was also studied with a completely instrumented tool that measured and recorded torsion and forming forces through deformation strains. Coefficients of friction for each part were determined and through statistical analysis, the influence of each of the following forming parameters was established: material thickness, formed shape, tool size, step size, forming speeds (feed rate and rotational speed), and forming angle. Multidimensional response surfaces were generated to show when and under what condition friction was minimized. A new contact zone representation for SPIF was also established. This formulation used common forming parameters and geometric considerations to determine the contacting zone between the sheet and the tool. Area models were proposed for both the tangential and torsional component of friction in SPIF. / Thesis (Master, Mechanical and Materials Engineering) -- Queen's University, 2010-02-01 16:47:17.249

No description available.

This thesis presents the design, analysis, and numerical and experimental evaluation of nonlinear controllers for co-operation among several hydraulic robots operating in the presence of significant system uncertainties, non-linearities and friction. The designed controllers allow hydraulically driven manipulators to (i) co-operatively handle a rigid object (payload) following a given trajectory, (ii) share the payload and (iii) maintain an acceptable internal force on the object. A general description of the kinematic and dynamic relations for a hydraulically actuated multi-manipulator system is presented first. The entire mathematical model incorporates object dynamics, robot dynamics, hydraulic actuator functions and friction dynamics. For the purpose of simulations, a detailed numerical simulation program of such a system is also developed, in which two three-link planar robot manipulators resembling the Magnum hydraulic manipulators manufactured by ISE, interact with each other through manipulating a common object. The regulating control problem is studied next, in which the desired position of the object and the corresponding desired link displacement change step-wise. Initially, a controller is designed based on a backstepping technique, assuming that full knowledge of the dynamics and kinematics of the system is available. The assumption is then relaxed and the control system is analyzed. Based on the analysis, the controller is then modified to account for the uncertainty of the payload, robot dynamic parameters and hydraulic functions. Next, the regulating controller is extended to a tracking controller, which allows the object to follow a given trajectory and is robust against parameter uncertainties. Additionally, an observer is added to the controller to avoid the need of acceleration feedback. To investigate the effect of friction force, the above controllers are examined by introducing the most recent and complete LuGre friction model into the system dynamics. The tracking controller is then redesigned to compensate the effect of friction. Observers are designed to observe the immeasurable friction states. Based on the observed friction states and estimated friction parameters, an appropriate friction compensation scheme is designed which does not directly use velocity in order to avoid the need of acceleration feedback by the controller. Finally, the problem of “explosion of terms” coming from the backstepping method is solved by using the concept of dynamic surface control in which a low pass filter is integrated to avoid model differentiation. Simulations are carried out for analysis of the control system and verification of the developed controllers. Experimental examinations are performed on an available hydraulic system consisting of two single-axis hydraulic actuators.

An experimental study was carried out to determine the effect of compaction on arching of wheat flour in storage. A model bin 475 mm in height and 600 mm × 375 mm in cross-section was used to conduct tests and wheat flour at moisture contents (MC) of 8.6% and 14.2% was tested. Direct shear tests were performed to determine the angle of internal friction and cohesion of wheat flour subjected to various compaction pressures. It was observed that the internal friction angles were about the same for the wheat flour at two moisture contents (37.1 vs. 37.5), but cohesion for 14.2% MC was 32% higher than that for 8.6% MC. The flowability of wheat flour decreased with increasing compaction pressure sharply at the initial stage of compaction. Compaction led to a 64% increase in required hopper opening for arching-free flow for flour at 8.6% MC, and 49% at 14.2% MC. However, compaction pressure had little effect on arch formation after it reached above 5 kPa.