Electric charges are often found in naturally or artificially formed droplets, such as raindrops and those generated by Kelvin's water dropper. In contrast to the impact of neutral droplets on a flat solid surface upon which a thin convex lens shape layer of the gas film is typically formed, I show that the delicate gas thin film can be fundamentally altered for even weakly charged droplets both experimentally and numerically. As the charge level is raised above a critical level of about 1% of the Rayleigh limit for representative impact conditions, the Maxwell stress overcomes the gas pressure buildup to deform the droplet bottom surface. A conical liquid tip forms and pierces Through the gas film, leading to a circular contact line moving outwards that does not trap any gas. The critical charge level only depends on the capillary number based on the gas viscosity. The deformation applies to common liquids and molten alloy droplets. Even dielectric surfaces can also induce conical deformation. The charged droplets can also deform upon hydrophobic surfaces, and increase the contact time on hydrophobic surfaces or even avoid bouncing. / Doctor of Philosophy / Electric charges are often found in naturally or artificially formed droplets, such as raindrops, waterfall, and inkjet printer. Neutral droplets impact on flat surfaces will usually trap a bubble inside because of the viscosity of air. The air bubble entrapped can be ignored if the droplet is water because the air bubble will eventually pinch-off. However, if the droplet is metal or some other viscous liquid, the air bubble will stay inside the liquid. This entrapped air bubble is undesired under some circumstances. For example, the existence of air bubble during metal 3D printing can influence the physical property. I show that the delicate gas thin film can be fundamentally altered for even weakly charged droplets both experimentally and numerically. As the charge level is raised above a critical level of about 1% of the maximum charges a droplet can carry for representative impact conditions, the electric stress will dominate the deformation of droplet. A conical liquid tip forms at the droplet bottom, avoiding the entrapment of air bubble. The critical charge level is experimentally proved to be only dependent on the gas viscosity and impact velocity. The deformation applies to common liquids and molten alloy droplets. Even dielectric surfaces can also induce conical deformation. The charged droplets can also deform upon hydrophobic surfaces, and increase the contact time on hydrophobic surfaces or even avoid bouncing.

O presente trabalho trata do cálculo da força contra eletromotriz em carga de uma máquina síncrona com ímãs na superfície do rotor (cuja forma de onda de força contra eletromotriz é não senoidal) sendo esta alimentada por correntes de fase cujas forma de onda são quadradas. Para conduzir esta investigação e calcular a força contra eletromotriz da máquina em estudo, faz-se uma revisão sobre o Método da Permeabilidade Fixa, método este que permite a linearização do ponto de operação da máquina. Dessa forma, as simulações são conduzidas por meio do método dos elementos finitos e do Método da Permeabilidade Fixa, levando-se em conta a forma de onda da corrente de alimentação. Atenção especial é dada ao modo que se analisa o fluxo concatenado e a forma de obtenção da força contra eletromotriz uma vez que as formas de onda do fluxo concatenado sofrem variações abruptas a cada 60º elétricos. Além destes parâmetros, analisa-se também cada uma das parcelas do torque eletromagnético, i.e., torque mútuo, torque de relutância e torque de borda, sendo realizado ao final do trabalho, uma comparação entre a soma da estimativa de cada parâmetro com o valor do torque eletromagnético obtido por meio de uma simulação não linear. / This work deals with the assessment of a surface mounted magnet synchronous machine\'s parameters (whose back-EMF is approximately trapezoidal) and that is fed by an ideal square current waveform. In order to investigate and describe each machine\'s parameter, a review on Frozen Permeability Method is presented. Some simulation by means of finite element method with the aid of Frozen Permeability Method are carried out taking into account that the machine is fed by an ideal square current waveform. The results for flux-linkage wave-form and back-EMF waveform are shown and analyzed. A special attention is given to back-EMF calculation since the linkage flux of each phase has an abrupt change every sixty electrical degrees due to the phase commutation. In addition, an attention is given to each torque component on load condition, i.e., mutual torque, reluctance torque, cogging torque and a comparison between the electromagnetic torque and the summation of these components.

O objetivo deste trabalho é o desenvolvimento de um pós-processador para um software baseado no método dos elementos finitos destinado a problemas de eletromagnetismo. Três métodos de determinação de torque de origem eletromagnética são abordados e comparados do ponto de vista da precisão e implementação, quais sejam: variação da energia magnética, integração do tensor de Maxwell e princípio do trabalho virtual (derivada do jacobiano local). Dois métodos são propostos para a determinação de reatâncias de eixo direto e em quadratura de máquinas síncronas. A metodologia é aplicada na análise de um motor síncrono de relutância de 15 hp, 380v, 4 pólos, cujos resultados são apresentados no capítulo IV. / The aim of this work is to develop a post-processor for use with an electromagnetism-oriented software based upon the Finite Elements Method. Three methods for determining electromagnetic torque are presented and compared in terms of precision and implementation: (i) Variation of Magnetic Energy, (ii) Maxwell Stress Method and (iii) Virtual-work Principle (Local Jacobian Derivative). Two methods for calculating direct-axis and quadrature-axis reactances of synchronous machines are proposed. The methodology is applied in the analysis of a 15 HP, 380 v, 4-pole reluctance synchronous motor and the results are presented in Chapter IV.

O objetivo deste trabalho é o desenvolvimento de um pós-processador para um software baseado no método dos elementos finitos destinado a problemas de eletromagnetismo. Três métodos de determinação de torque de origem eletromagnética são abordados e comparados do ponto de vista da precisão e implementação, quais sejam: variação da energia magnética, integração do tensor de Maxwell e princípio do trabalho virtual (derivada do jacobiano local). Dois métodos são propostos para a determinação de reatâncias de eixo direto e em quadratura de máquinas síncronas. A metodologia é aplicada na análise de um motor síncrono de relutância de 15 hp, 380v, 4 pólos, cujos resultados são apresentados no capítulo IV. / The aim of this work is to develop a post-processor for use with an electromagnetism-oriented software based upon the Finite Elements Method. Three methods for determining electromagnetic torque are presented and compared in terms of precision and implementation: (i) Variation of Magnetic Energy, (ii) Maxwell Stress Method and (iii) Virtual-work Principle (Local Jacobian Derivative). Two methods for calculating direct-axis and quadrature-axis reactances of synchronous machines are proposed. The methodology is applied in the analysis of a 15 HP, 380 v, 4-pole reluctance synchronous motor and the results are presented in Chapter IV.

This work presents detailed numerical calculations of the dielectrophoretic force in octupolar traps designed for single-cell trapping. A trap with eight planar electrodes is studied for spherical and ellipsoidal particles using an indirect implementation of the boundary element method (BEM). Multipolar approximations of orders one to three are compared with the full Maxwell stress tensor (MST) calculation of the electrical force on spherical particles. Ellipsoidal particles are also studied, but in their case only the dipolar approximation is available for comparison with the MST solution. The results show that the full MST calculation is only required in the study of non-spherical particles. / Singapore-MIT Alliance (SMA)

O presente trabalho trata do cálculo da força contra eletromotriz em carga de uma máquina síncrona com ímãs na superfície do rotor (cuja forma de onda de força contra eletromotriz é não senoidal) sendo esta alimentada por correntes de fase cujas forma de onda são quadradas. Para conduzir esta investigação e calcular a força contra eletromotriz da máquina em estudo, faz-se uma revisão sobre o Método da Permeabilidade Fixa, método este que permite a linearização do ponto de operação da máquina. Dessa forma, as simulações são conduzidas por meio do método dos elementos finitos e do Método da Permeabilidade Fixa, levando-se em conta a forma de onda da corrente de alimentação. Atenção especial é dada ao modo que se analisa o fluxo concatenado e a forma de obtenção da força contra eletromotriz uma vez que as formas de onda do fluxo concatenado sofrem variações abruptas a cada 60º elétricos. Além destes parâmetros, analisa-se também cada uma das parcelas do torque eletromagnético, i.e., torque mútuo, torque de relutância e torque de borda, sendo realizado ao final do trabalho, uma comparação entre a soma da estimativa de cada parâmetro com o valor do torque eletromagnético obtido por meio de uma simulação não linear. / This work deals with the assessment of a surface mounted magnet synchronous machine\'s parameters (whose back-EMF is approximately trapezoidal) and that is fed by an ideal square current waveform. In order to investigate and describe each machine\'s parameter, a review on Frozen Permeability Method is presented. Some simulation by means of finite element method with the aid of Frozen Permeability Method are carried out taking into account that the machine is fed by an ideal square current waveform. The results for flux-linkage wave-form and back-EMF waveform are shown and analyzed. A special attention is given to back-EMF calculation since the linkage flux of each phase has an abrupt change every sixty electrical degrees due to the phase commutation. In addition, an attention is given to each torque component on load condition, i.e., mutual torque, reluctance torque, cogging torque and a comparison between the electromagnetic torque and the summation of these components.

Όταν ηλεκρομαγνητική (ΗΜ) ακτινοβολία, προερχόμενη από κάποια πηγή, προσπίπτει σε σύνολο από σωμάτια τότε λαμβάνουν χώρα δύο φαινόμενα. Πρώτον, ασκούνται δυνάμεις στα σωμάτια οι οποίες οφείλονται αποκλειστικά στην σκέδαση της ΗΜ ακτινοβολίας της πηγής από αυτά. Οι δυνάμεις αυτές ονομάζονται Optical Trapping Forces. Δεύτερον, τα ίδια τα σωμάτια σκεδάζοντας την ΗΜ ακτινοβολία της πηγής, λειτουργούν και αυτά ως πηγές ακτινοβολίας. Έτσι ασκούν δυνάμεις το ένα στο άλλο. Οι δυνάμεις αυτές ονομάζονται Optical Binding Forces. H παράλληλη δράση των δύο αυτών ειδών δυνάμεων έχει ως αποτέλεσμα την δημιουργία ευσταθών δομών από τα σωμάτια. Προκειμένου την θεωρητική πρόβλεψη των δομών που αναπτύσσονται, χρειαζόμαστε έναν ταχύτατο αλγόριθμο υπολογισμού των δυνάμεων. Ο πιο ταχύς αλγόριθμος θα είναι το αποτέλεσμα της εύρεσης ενός αναλυτικού τύπου υπολογισμού των δυνάμεων. Η κατασκευή και η παρουσίαση του αναλυτικού τύπου αυτού είναι και το περιεχόμενο της εργασίας που ακολουθεί. / When the electromagnetic radiation, originating from a source, meets an ensemble of particles, there are two phenomena which take place. First, there are forces acting on these particles due exclusively to the scattering of the electromagnetic radiation from the particles. These are the so-called “Optical Trapping Forces”. Second, particles themselves act as sources of radiation since they scatter the radiation, and they exert forces one to another. These are the so-called “Optical Binding Forces”. The coexistence of these two different forces results in the creation of stable structures where the particles are self-organized. To achieve the theoretical prediction of these structures, we need a very efficient algorithm to calculate the forces. The fastest possible and thus more efficient algorithm originates from the analytical formula of the forces. The construction and the solution of the forces analytical formula is the content of this research work.

Future robotic systems will be pervasive technologies operating autonomously in unknown spaces that are shared with humans. Such complex interactions make it compulsory for them to be lightweight, soft, and efficient in a way to guarantee safety, robustness and long-term operation. This set of qualities can be achieved using soft multipurpose systems that combine, integrate and commute between conventional electromechanical and fluidic drives, as well as harvest energy during inactive actuation phases for increased energy efficiency. Recent research work has shown that dielectric fluids with specific properties, can be combined with stretchable or flexible shell structures made of polymeric dielectric/electrode composite films, to implement a novel type of soft electrically-driven fluidic transducers with self-healing and self-sensing capabilities that take the name of Liquid-based Electro-Active Polymer transducers (LEAPs). These devices are similar to dielectric elastomer transducers in regards to their electrostatic working principle, but they can potentially produce larger displacements due to their lower mechanical stiffness. In this thesis a novel electrostatic transducer is presented; the transducer is made of thin polymer films and liquid dielectrics, combined with rigid stiffening elements to form a circular electrostatic bellow muscle (EBM) unit capable of out-of-plane contraction. These units are easy to manufacture and can be arranged in arrays and stacks that can be employed as contractile artificial muscles, pumps for fluid-driven soft robots, or as energy harvesters. As artificial muscles, EBMs of 20 - 40 millimeters in diameter can exert forces of up to 6 newtons, lift loads over a hundred times their own weight, and reach contractions of over 40 per cent with strain rates over 1200 per cents per second, with a bandwidth over 10 Hz. As pump drivers, EBMs produce flow rates of up 0.63 liters per minute and maximum pressure head of 6 kilopascals, whereas as generators, they reach a conversion efficiency close to 20 per cent. The compact shape, low cost, simple assembling procedure, high reliability and large contractions make the EBM a promising technology for high-performance robotic systems.