Mechanical structure-property relations have been quantified for AISI 4140 steel under different strain rates and temperatures. The structure-property relations were used to calibrate a microstructure-based internal state variable plasticity-damage model for monotonic tension, compression and torsion plasticity, as well as damage evolution. Strong stress state and temperature dependences were observed for the AISI 4140 steel. Tension tests on three different notched Bridgman specimens were undertaken to study the damage-triaxiality dependence for model validation purposes. Fracture surface analysis was performed using Scanning Electron Microscopy (SEM) to quantify the void nucleation and void sizes in the different specimens. The stress-strain behavior exhibited a fairly large applied stress state (tension, compression dependence, and torsion), a moderate temperature dependence, and a relatively small strain rate dependence.

In this work, the effectiveness of multi-objective design optimization using metamodeling techniques and an internal state variable (ISV) plasticity damage material model as a design tool is demonstrated. Multi-objective design optimization, metamodeling, and ISV plasticity damage material models are brought together to provide a design tool capable of meeting the stringent structural design requirements of today and of the future. The process of implementing this tool are laid out, and two case studies using multi-objective design optimization were carried out. The first was the optimization of a Chevrolet Equinox rear subframe. The optimized subframe was 12% lighter and met design requirements not achieved by the heavier initial design. The second case was the optimization of a Formula SAE front upright. The optimized upright meets all the design constraints and is 22% lighter.

Humans are very good at conveying when something is lost or misinterpreted in communication by using social cues like facial expressions or changes in prosody. However, these methods are usually not applicable for most robots, which are appearance constrained and vocality constrained. This is also one of the key factors that restrain the efficiency of Human-Robot Interaction (HRI). In this project, we explore a novel paradigm for enhancing the perception of the robot’s internal states using augmented reality (AR). A series of visualization interfaces augmenting either the environment, robot, or target object are implemented and evaluated through a user study. We found that AR visualization improved efficiency and motion predictability over a control group in which there is no visualization. The project shows not only the potential of AR visualizing as a bridge coordinating human and robot, but also a promising future of applications visualising robot’s internal states. / Människor är mycket bra på att förmedla när något går förlorat eller tolkas felaktigt i kommunikationen genom att använda sociala ledtrådar som ansiktsuttryck eller förändringar i prosodi. Dessa metoder är dock vanligtvis inte tillämpliga för de flesta robotar, vilka är begränsade till utseendet och begränsad vokalitet. Detta är också en av nyckelfaktorerna som begränsar effektiviteten i Human-Robot Interaction (HRI). I detta projekt utforskar vi ett nytt paradigm för att förbättra uppfattningen om robotens interna tillstånd med hjälp av augmented reality (AR). En serie visualiseringsgränssnitt som förstärker antingen miljön, roboten eller målobjektet implementeras och utvärderas genom en användarstudie. Vi fann att AR-visualisering förbättrade effektiviteten och rörelsesförutsägbarheten över en kontrollgrupp där det inte finns någon visualisering. Projektet visar inte bara potentialen för AR- visualisering som en bro som koordinerar människa och robot utan också en lovande framtid för applikationer som visualiserar robotens interna tillstånd.

This dissertation presents a numerical model constructed to investigate the dynamics and structures of the Earth’s mantle. Deformation of the Earth’s mantle, which is composed of solid silicate minerals, is strongly governed by the constitutive relation-ship among multiple length-scale structures and properties. To explain the realistic consti-tutive behavior of the silicate mantle, an Internal State Variable (ISV) theory that is an advanced and novel constitutive approach for history-dependent elastoviscoplasticity was applied. The ISV constitutive model was, in turn, implemented into a three-dimensional geodynamic code, TERRA3D, which uses the Finite Element method developed for the mantle convection problem. The sequential studies performed in this dissertation are presented in the follow-ing order: i) a comprehensive summary of the mantle material structures (compositions and microstructural features) and its mechanical properties (elasticity and rheology), ii) a development of a recrystallization and grain size dependent ISV constitutive model for the polycrystalline materials such as minerals and metals, which explains comprehensive mineral physics occurring under the conditions of pressure, temperature, and strain rate within the mantle and their history dependence, and iii) an application of the recrystalli-zation and grain size dependent ISV model to the Earth’s mantle convection problem us-ing the TERRA3D for an investigation of the grain size and dynamic recrystallization efect on the mantle dynamics. The applied ISV constitutive model within the TERRA3D Finite Element frame-work captures the subscale dynamics (dislocation density evolution, dynamic and static recrystallization, grain growth, and grain refinement) and their effect on the large-scale rheology and dynamics of the Earth’s mantle. The numerical investigations reveal that the potential for the mechanical instability and weakening within the mantle arises from the kinetics of grain size and recrystallization and their rheological effect. This mechanical instability leads to the mantle convection entering the episodic overturn regime. The TERRA3D-ISV mantle convection model herein also provides some insightful discover-ies regarding the dynamics and structures within the mantle, explaining its complex rhe-ology caused by the kinetics of recrystallization, grain size, hardening, dislocation recov-ery, and diffusion in the geological settings.

We compare an internal state method and a direct Runge-Kutta method for solving Volterra integro-differential equations and Volterra delay differential equations. The internal state method requires the kernel of the Volterra integral to be realizable as an impulse response function. We discover that when applicable, the internal state method is orders of magnitude more efficient than the direct numerical method. However, constructing state representation for realizable kernels can be challenging at times; therefore, we propose a rational approximation approach to avoid the problem. That is, we approximate the transfer function by a rational function, construct the corresponding linear system, and then approximate the Volterra integro-differential equation. We show that our method is convergent for the case where the kernel is nuclear. We focus our attention on time-invariant realizations but the case where the state representation of the kernel is a time-variant linear system is briefly discussed. / Ph. D.

Uppsatsen behandlar hur barn uttrycker karaktärers känslor, tankar och intentioner i narrativer genom så kallade mentala tillståndstermer. Syftet med uppsatsen var att studera användningen av mentala tillståndstermer i narrativer av enspråkiga svensktalande barn samt tvåspråkiga svensk- och engelsktalande barn i åldrarna 5;8–7;9 år, och att undersöka om produktionen av mentala tillståndstermer påverkas av barns språk och språkstatus. Genom kvantitativa och kvalitativa analyser av 100 redan insamlade och transkriberade narrativer, framgick att det fanns en individuell variation i den totala användningen av mentala tillståndstermer, vilket troligtvis hade större påverkan på barnens produktion av mentala tillståndstermer än språk och språkstatus. Vidare tydliggjordes att mentala tillståndstermer hade specifika funktioner i narrativer. Slutligen fastställdes att kategorin perceptuella tillståndstermer dominerade i barns narrativer, oavsett språk och språkstatus, och att termerna se respektive see var mest frekventa. En slutsats var att mentala tillståndstermer är intressanta att inkludera i narrativ analys då de ger en bild av barns förståelse för karaktärers mentala tillstånd och hur dessa sammankopplas med händelseutvecklingen i berättelsen.

To enhance material performance at different length scales, this study strives to develop a reliable analytical and computational tool with the help of internal state variables spanning micro and macro-level behaviors. First, the practical relevance of a nonlocal damage integral added to an internal state variable (BCJ) model is studied to alleviate numerical instabilities associated within the post-bifurcation regime. The characteristic length scale in the nonlocal damage, which is mathematical in nature, can be calibrated using a series of notch tensile tests. Then the same length scale from the notch tests is used in solving the problem of a high-velocity (between 89 and 107 m/s) rigid projectile colliding against a 6061-T6 aluminum-disk. The investigation indicates that incorporating a characteristic length scale to the constitutive model eliminates the pathological mesh-dependency associated with material instabilities. In addition, the numerical calculations agree well with experimental data. Next, an effort is made rather to introduce a physically motivated length scale than to apply a mathematical-one in the deformation analysis. Along this line, a dislocation based plasticity model is developed where an intrinsic length scale is introduced in the forms of spatial gradients of mobile and immobile dislocation densities. The spatial gradients are naturally invoked from balance laws within a consistent kinematic and thermodynamic framework. An analytical solution of the model variables is derived at homogenous steady state using the linear stability and bifurcation analysis. The model qualitatively captures the formation of dislocation cell-structures through material instabilities at the microscopic level. Finally, the model satisfactorily predicts macroscopic mechanical behaviors - e.g., multi-strain rate uniaxial compression, simple shear, and stress relaxation - and validates experimental results.

The objective of this dissertation centers on gaining a better understanding of the structure - property - performance relations of nickel and copper through the advanced multiscale theoretical framework and integrated computational methods. The goal of this dissertation also includes to combine material science and computational mechanics to acquire a transformative understanding of how the different crystal orientations, size scales, and penetration velocities affect plastic deformation and damage behavior of metallic materials during high strain rate (> 103s-1) processes. A multiscale computational framework for understanding plasticity and shearing mechanisms of metallic materials during the high rate process was developed, which for the first time reveals micromechanical insights on how different crystal orientations, size scales, and penetration velocities affect the atomistic simulations which render structure property information for plasticity, shearing and damage mechanisms. The contributions of this dissertation include: (1) Comprehensive understanding of the plasticity and shearing mechanisms between the nickel penetrator and copper target under high strain rates (2) Development of a multiscale study of a nickel penetrator striking a copper plate by employing macroscale simulations and atomistic simulations to better understand the micromechanisms. (3) An essential description of how different crystal orientations, size scales, and strain rates affect the plasticity and shearing mechanisms.

Coupling of material, process, and performance models is an important step towards a fully integrated material-process-performance design of structural components. In this research, alternative approaches for introducing the effects of manufacturing and material microstructure in plasticity constitutive models are studied, and a cyberinfrastructure framework is developed for coupled process-performance simulation and optimization of energy absorbing components made of magnesium alloys. The resulting mixed boundary/initial value problem is solved using nonlinear finite element analysis whereas the optimization problem is decomposed into a hierarchical multilevel system and solved using the analytical target cascading methodology. The developed framework is demonstrated on process-performance optimization of a sheetormed, energy-absorbing component using both classical and microstructure-based plasticity models. Sheetorming responses such as springback, thinning, and rupture are modeled and used as manufacturing process attributes whereas weight, mean crush force, and maximum crush force are used as performance attributes. The simulation and optimization results show that the manufacturing effects can have a considerable impact on design of energy absorbing components as well as the optimum values of process and product design variables.

The mechanical and physical properties of polymers are determined primarily by the underlying nano-scale structures and characteristics such as entanglements, crystallites, and molecular orientation. These structures evolve in complex manners during the processing of polymers into useful articles. Limitations of available and foreseeable computational capabilities prevent the direct determination of macroscopic properties directly from atomistic computations. As a result, computational tools and methods to bridge the length and time scale gaps between atomistic and continuum models are required. In this research, an internal state variable continuum model has been developed whose internal state variables (ISVs) and evolution equations are related to the nano-scale structures. Specifically, the ISVs represent entanglement number density, crystal number density, percent crystallinity, and crystalline and amorphous orientation distributions. Atomistic models and methods have been developed to investigate these structures, particularly the evolution of entanglements during thermo-mechanical deformations. A new method has been created to generate atomistic initial conformations of the polymer systems to be studied. The use of the hyperdynamics method to accelerate molecular dynamics simulations was found to not be able to investigate processes orders of magnitude slower that are typically measurable with traditional molecular dynamics simulations of polymer systems. Molecular dynamics simulations were performed on these polymer systems to determine the evolution of entanglements during uniaxial deformation at various strain rates, temperatures, and molecular weights. Two methods were evaluated. In the first method, the forces between bonded atoms along the backbone are used to qualitatively determine entanglement density. The second method utilizes rubber elasticity theory to quantitatively determine entanglement evolution. The results of the second method are used to gain a clearer understanding of the mechanisms involved to enhance the physical basis of the evolution equations in the continuum model and to derive the models material parameters. The end result is a continuum model that incorporates the atomistic structure and behavior of the polymer and accurately represents experimental evidence of mechanical behavior and the evolution of crystallinity and orientation.