Over the past 20 years research into miniature actuators has been increasing. In addition to having a compact geometry, desirable characteristics for miniature actuators include having a large power-to-weight ratio, fast response, fine resolution of movement and high power efficiency. In the first part of this thesis the design of a miniature rotary robot joint is presented. Two single acting miniature cylinders each with a bore diameter of 4 mm drive the joint using water as the hydraulic fluid. The cylinders are mated to a rack and pinion mechanism that converts the opposing linear motion of the cylinders shafts into rotation. Also within the design, a novel position sensor using magnetic field sensing technology is presented. Overall, the joint measures 11 mm wide x 8.8 mm high x 150 mm long. In the second part of this thesis a hydraulic servo positioning system is presented along with a novel valve modeling technique and two position control strategies. Four low-cost, 3-way on/off solenoid valves were used to control the flow of the water in and out of the cylinders. The two nonlinear position controllers employed were a position-velocity-acceleration plus model-based feedforward controller (PVA+FF) and a novel PVA + FF plus sliding mode controller. For experiments involving horizontal rotation of the joint while carrying no load the PVA +FF controller achieved a steady-state error of ± 0.77° or ± 0.06 mm in terms of rack position. The steady-state error produced by the PVA + FF plus sliding mode controller was ± 0.85° or ± 0.07 mm. The maximum tracking error produced by both controllers was 5° or 0.41 mm and occurred during the initial cycloidal rising portion of a 120° displacement. The root mean square error (RMSE) of the PVA + FF and PVA + FF plus sliding mode controllers were 42% and 54% less than that produced by a linear PVA controller. Both controllers were found to be robust to changes in payload. This was experimentally verified by adding masses of 6.5 g and 13.5 g to the end of the output link of the joint. By conducting similar experiments in the vertical direction it was found that the PVA + FF plus sliding mode controller was more robust, achieving on average a 30% reduction in RMSE compared to the FF + PVA controller. / Thesis / Master of Applied Science (MASc)

Patients suffering from brachial plexus injury or other spinal cord related injuries often lose their hand functionality. They need a device which can help them to perform day to day activities by restoring some form of functionality to their hands. A popular solution to this problem are robotic exoskeletons, mechanical devices that help in actuating the fingers of the patients, enabling them to grasp objects and perform other daily life activities. This thesis presents the design of a novel exoskeleton glove which is controlled by a neural network-based controller. The novel design of the glove consists of rigid double four-bar linkage mechanisms actuated through series elastic actuators (SEAs) by DC motors. It also contains a novel rotary series elastic actuator (RSEA) which uses a torsion spring to measure torque, passive abduction and adduction mechanisms, and an adjustable base. To make the exoskeleton glove grasp objects, it also needs to have a robust controller which can compute forces that needs to be applied through each finger to successfully grasp an object. The neural network is inspired from the way human hands can grasp a wide variety of objects with ease. Fingertip forces were recorded from a normal human grasping objects at different orientations. This data was used to train the neural network with a R2 value of 0.81. Once the grasp is initiated by the user, the neural network takes inputs like orientation, weight, and size of the object to estimate the force required in each of the five digits to grasp an object. These forces are then applied by the motors through the SEA and linkage mechanisms to successfully grasp an object autonomously. / Master of Science / Humans are one of the few species to have an opposable thumb which allows them to not only perform tasks which require power, but also tasks which require precision. However, unfortunately, thousands of people in the United States suffer from hand disabilities which hinder them in performing basic tasks. The RML glove v3 is a robotic exoskeleton glove which can help these patients in performing day to day activities like grasping semi-autonomously. The glove is lightweight and comfortable to use. The RML glove v3 uses a neural network based controller to predict the grasp force required to successfully grasp objects. After the user provides the required input, the glove estimates the object size and uses other inputs like object orientation and weight to estimate the grasp force in each finger linkage mechanism. The motors then drive the linkages till the required force is achieved on the fingertips and the grasp is completed.

No / Optimisation of the drilling operations is becoming increasingly important as it can significantly reduce the oil well development cost. One of the major objectives in oil well drilling is to increase the penetration rate by selecting the optimum drilling bit based on offset wells data, and adjust the drilling factors to keep the bit in good condition during the operation. At the same time, it is important to predict the bit wear and the time to pull out the bit out of hole to prevent fishing jobs. Numerous models have been suggested in the literature for predicting the time to pull the bit out to surface rather than predict or estimate the bit wear rate. Majority of the available models are largely empirical and can be applied for limited conditions, and do not include all the drilling parameters such as the formation abrasiveness and bit hydraulic. In this paper, a new approach is presented to improve the drill bit wear estimation that consists of a combination of both Bourgoyne and Young (BY) drilling rate model and theory of empirical relation for the effects of rotary speed (RPM), and weight on bit (WOB) on drilling arte (ROP) and rate of tooth wear. In addition to the drilling parameters, the formation abrasiveness and the effect of the jet impact force of the mud have also been accounted to estimate the bit wear. The proposed model enables estimation of the rock abrasiveness, and that lead to calculate the dynamic dulling rate of the bit while drilling that used in more accurate to assess the bit tooth wear compared with the mechanical specific energy (MSE). Then the estimated dulling rate at the depth of pulling out is used to determine the dull grade of the bit. The technique is validated in five wells located in two different oil fields in Libya. All studied wells in this showed a good agreement between the actual bit tooth wear and the estimated bit tooth wear.

The exploration of Microelectromechanical systems (MEMS) represents a crucial aspect in the advancement of modern science and technology. They offer low-cost solutions to miniaturize numerous devices. The increasing use of MEMS applications in biological research has created a pressing need for reliable micromanipulation tools. In this context, microgrippers have emerged as promising tools for the precise handling and characterization of biological samples. This thesis presents a novel biocompatible microgripper that utilizes electrothermal actuation integrated with a rotary capacitive position sensor. To overcome the limited displacement possibilities associated with electrothermal actuators, this microgripper incorporates conjugate surface flexure hinges (CSFH). These hinges enhance the desired tweezers output displacement. The designed microgripper can in principle manipulate biological samples ranging in size from 15 to 120 μm. Based on the sensitivity calculation of the rotary capacitive position sensors, the sensitivity of the displacement measurement is 102 fF/μm. By employing a kinematics modeling approach based on the pseudo-rigid-body method (PRBM), an equation for the displacement amplification factor is developed, and this equation is subsequently verified through FEM-based simulations. By comparing the amplification ratio value obtained from the analytical modeling and simulations, there is an excellent match, with a relative difference of only ~1%, thus demonstrating the effectiveness of the PRBM approach in modeling the kinematics of the structure under investigation. In addition to this, by using analytical modeling based on finite elements method (FEM), the design of the electrothermal actuator and the heat dissipation mechanism is optimized. FEM-based simulations are used to validate the theoretical modeling, demonstrating good agreement between the displacements derived from analytical modeling and simulations. The temperature difference (∆T) across a range from room temperature to 278°C exhibits a relative difference of ~2.8%. Moreover, underpass technology is implemented to ensure that electrical signals or disturbances from other parts of the device, such as the electrothermal actuation system, do not interfere with the operation and integrity of the gripping mechanism. Ultimately, the microgripper is fabricated using conventional MEMS technology from a silicon-on-insulator (SOI) wafer through the deep reactive ion etching (DRIE) technique. The integration of theoretical modeling, simulations, and practical fabrication highlights a compelling approach that has the potential for transformative applications in the field of micromanipulation and biological sample handling. Furthermore, we propose a C-shaped structure with a curved beam mechanism to improve the movement provided by the thermal actuators. The design of experiment (DOE) method is used to optimize the geometrical parameters of our proposed device. Analytical modeling based on Castigliano's second theorem and finite element method (FEM) simulations are used to predict the behavior of the symmetrical C-shaped structure; the results are in good agreement. The MEMS-based rotational structures are fabricated on silicon-on-insulator (SOI) wafers using bulk micromachining and deep reactive ion etching (DRIE). The fabricated devices are tested; our findings reveal that our proposed MEMS rotational structure outperforms the symmetrical lancet structure by 28% in terms of delivered displacement. Furthermore, the experimental results agree well with those obtained through numerical analysis.

This thesis focuses on the detailed design, implementation, and testing of a unique high performance rotary actuator for use in a custom haptic force feedback device. This six degree of freedom (DoF) position input and three DoF force output haptic device is specifically designed to recreate force sensations with the goal of improving operator performance in remote or simulated environments. By upholding the strict design principles of an ideal force-source actuator, the developed actuator and consequently the haptic controller can successfully replicate forces accurately and realistically. In the comprehensive presentation of this design, numerous analytical tools are also developed and presented with the intention of them being resourceful in the design or improvement of other haptic actuators, specifically cable-driven force feedback designs. These tools which include a linear system model can be valuable not only in the development but in the control of cable-driven actuators. Due to the imposed design criteria, the developed 1.045 Nm (1.359 Nm peak) cable-driven sectorial rotary actuator exhibits numerous properties that are desired in an open-loop force controlled actuator. These properties include low inertia (6.53e-04 kgm^2), low perceived mass (0.102 kg), small torque resolution (3.84e-04 Nm), small position resolution (21.5 arcsec), and high bandwidth (300 Hz). Due to the efficient cable transmission the design is also backdrivable, isotropic, low friction, and zero backlash. As a result of these numerous intrinsic properties, a high fidelity force feedback haptic actuator was conceived and is presented in this thesis. / Master of Science

2025 / The development of fiber amplifiers plays a critical role in a wide range of applications, including high-energy systems, weak signal sensing and imaging, and optical communications, where Erbium-doped fiber amplifiers (EDFAs) are commonly utilized. In particular, the increasing demand for amplifiers capable of supporting a high number of data channels is essential to avoid the looming “capacity crunch” in information networks. However, any significant expansion in capacity will inevitably drive a substantial rise in energy consumption. Consequently, the integration of additional data channels in telecommunications must be approached with energy efficiency in mind. Spatial division multiplexing (SDM) has emerged as a promising solution, leveraging spatial dimensions such as modes or fiber cores to enable data parallelism, and is becoming the preferred technology for reducing energy usage in optical networks. This thesis examines the amplification dynamics and properties of multimode (MMF) ring-core fibers (RCFs) that can stably support spatial modes carrying orbital angular momentum (OAM), which can serve as independent, uncoupled signal channels. Notably, RCFs featuring topologically confined modes (TCMs) have demonstrated the highest uncoupled mode capacity among MMFs to date. We explore how these fibers can be turned into amplifiers by utilizing χ^(3) material nonlinearities and by developing doped MMF-EDFAs.In this work, we investigate the nonlinear effects of OAM modes in multimode fibers, with a particular focus on acousto-optic interactions between these modes and phonons, leading to the generation of Stimulated Brillouin Scattering (SBS). Traditionally, SBS in single-mode fiber amplifies a narrowband Stokes signal using a powerful pump, operating through a self-phase matching process. However, by utilizing OAM modes, we exploit their distinctive phase characteristics to exert greater control over this interaction. This leads to the introduction of a novel OAM conservation law, which governs the modulation of inter-modal interactions between the pump, phonons, and Stokes, allowing for adjustable nonlinear gain. Furthermore, the chiral properties of OAM modes enable the launch of superposition-state pumps in RCFs, resulting in polarization rotation, a phenomenon known as optical activity. This optical activity, characterized as a stable birefringent interference effect due to its geometrodynamic nature, creates a special phase-matching and polarization-selective condition. This condition allows for complete spatial phase conjugation of the pump state, as the Stokes signal must retrace the pump’s polarization rotation to achieve significant gain. This mechanism also provides control over Stokes growth and the gain threshold condition. Overall, our analysis demonstrates that OAM modes offer up a versatile degree of freedom for controlling amplification through fiber nonlinearities. RCFs and OAM modes present significant potential for developing high-data-capacity SDM-EDFAs, offering key advantages for stimulated emission-based amplification. The strong confinement of these modes within a doped fiber core enhances their interaction with erbium ions, facilitating the creation of highly absorbing and emitting amplifiers that outperform their single-mode and multi-core EDFA counterparts. Another benefit of using OAM modes lies in their similar intensity profiles, with their orthogonality primarily derived from distinct phase characteristics. Since EDFA amplification depends on intensity rather than phase, this architecture enables high, equalized gain and low-noise amplification across numerous spatial channels. We experimentally characterize an RCF-EDFA that leverages these advantages and topological confinement to achieve high-gain amplification across a record number of uncoupled OAM modal channels. Furthermore, simulations of an optimized, deployment-ready version of the EDFA further demonstrate its ability to amplify numerous spectral and spatial data channels simultaneously while maintaining high energy efficiency. This performance is made possible through a proposed pumping scheme in which the pump consists of a superposition of OAM fiber modes, like the signal, benefiting from the large and stable mode ensemble. By sculpting the modal distribution of the pump, the amplifier architecture is optimized to increase pump-signal overlap, achieving both high, equalized gain and low noise figures while reducing pump power requirements. This thesis explores this parameter space, through both simulations and experimental investigations, with the aim of developing optimal SDM fiber amplifiers that address the capacity, energy efficiency, and cost demands of future optical fiber networks.

Intensive competition on the global market puts great pressure on manufacturing companies to develop and produce products that meet requirements from customers and investors. One key factor in meeting these requirements is the efficiency of the product development and the production preparation process. Design automation is a powerful tool to increase efficiency in these two processes. The benefits of automating the production preparation process are shortened led-time, improved product performance, and ultimately decreased cost. Further, automation is beneficial as it increases the ability to adapt products to new product specifications with production preparations done in few or in a single step. During the automation process, knowledge about the production preparation process is collected and stored in central systems, thus allowing full control over the design of production equipments. Three main topics are addressed in this thesis: the flexibility of design automation systems, knowledge bases containing conflicting rules, and the automation of the finite element analysis process. These three topics are discussed in connection with the production preparation process of rotary draw bending. One conclusion drawn from the research is that it is possible to apply the concept of design automation to the production preparation process at different levels of automation depending on characteristics of the implemented knowledge. In order to make design automation systems as flexible as possible, the concept of object orientation should be adapted when building the knowledge base and when building the products geometrical representations. It is possible to automate the process of setting up, running, and interpreting finite element analyses to a great extent and making the automated finite element analysis process a part of the global design automation system.

International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, Nevada / Current ground-based tracking systems at the DoD test and training ranges require transmission of a variety of signals from rotating platform to fixed control and process center. Implementation of commercial off the shelf (COTS) solution for transmitting high-speed, multiple-channel data signals over a rotational platform prompt the development of an advanced electro-optic hybrid rotating-to-fixed information transmission technology. Based on current demand, an Air Force-sponsored Small Business Innovative Research (SBIR) contract has been awarded to Physical Optics Corporation (POC) to modify existing tracking mounts with a unique electro-optic hybrid rotary joint (EOHRJ). The EOHRJ under current development is expected to provide the following features: 1) include a specially designed electrical slip-ring, which is able to accommodate hundreds of transmission channels, including electrical power, control, feedback, and low-speed data signals; 2) include an optical fiber slip-ring which, by incorporating with electrical time division mulitplexing (TDM) and optical wavelength division multiplexing (WDM) technologies, is able to provide multiple channel, high data rate (over gigabits per second), and bi-directional signal transmission; and 3) is designed to be reliable for harsh environmental operation, adaptive to stringent size requirement, and accommodating to existing electrical and mechanical interfaces. Besides the military use, other possible commercial applications include on board monitoring of satellite spinners, surveillance systems, instrumentation and multi spectral vision systems, emergency/medical instruments, remote sensing, and robotics.

It is now widely assumed that many artefacts found in the prehistoric archaeological record were not casually discarded as unwanted material but were deposited in features and contexts with structure and meaning. This appears to include saddle and rotary querns for they are often found whole and apparently still usable or, conversely, deliberately broken. Analysis of the structured deposition of querns in the south-west of England shows that they were deposited in features on both domestic and non-domestic sites. Furthermore, the location and state of the querns, together with the artefacts found in association with them, indicates that they were deposited with different levels and layers of meaning, even within the same type of feature. The deposition of querns appears to have pervaded all aspects of prehistoric life and death suggesting that they played a role above, but nevertheless related to, their prime task of milling. An exploration of the object biography of querns demonstrates the importance of what are often considered to be mundane tools to subsistence communities. Each quern has its own unique life history, its meaning and value determined by the reasons that gave cause for its manufacture, the material from which it was made, the use(s) to which it was put and who used it. However, all querns share points of commonality, related to their function as milling tools, their role as transformers of raw material(s) into usable products (s), their association with women and the production of food, and the movement of the upper stone. Through these, symbolical links can be made between querns and agricultural, human and building life cycles, gender relations and the turning of the heavens. The reason for a quern’s deposition in the archaeological record may have drawn upon one or more unique or common values.

Ce travail est focalisé sur la synthèse par voie sèche des ferrates de métaux alcalins (A2FeVIO4, A = K, Na) en utilisant le chlore comme oxydant. Les ferrates (VI) sont des composés qui contiennent du fer sous son état d’oxydation +6. Leur importance s’avère grandissante dans le traitement des eaux et des effluents industriels du fait de la nature multifonctionnelle du FeVI. Bien que l’existence de ferrates alcalins soit citée depuis un siècle, ceux-ci n’ont pas fait l’objet d’un nombre considérable d’études. Ceci est principalement du à leur instabilité et aux difficultés concernant les méthodes de préparation. La synthèse de ferrates alcalins dans le réacteur rotatif a été réalisée à température ambiante et la réaction totale de synthèse fut exothermique. Pour les expériences effectuées, des quantités de réactants solides (sel de fer + AOH) allant de quelques dizaines de grammes jusqu’à 400 grammes ont été utilisées. Les effets de différents paramètres sur le déroulement de la synthèse ont été étudiés. Afin d’améliorer le processus de synthèse et appliquer l’extrapolation industrielle, la synthèse de ferrates a été réalisée au sein d’un réacteur à lit fluidisé. Le procédé consiste premièrement, à mélanger préalablement l’hydroxyde de sodium (NaOH) avec le sulfate ferreux (FeSO4?H2O) et deuxièmement, à fluidiser le mélange obtenu en présence du chlore dilué. L’application de ce procédé permet d’atteindre un rendement en FeVI d’environ 56 %. Les résultats obtenus témoignent d’un processus propre et innovant et d’un faible coût pour la synthèse des ferrates de métaux alcalins à plus grande échelle / This work is focused on the dry method synthesis of alkaline metal ferrates (A2FeVIO4, A = K, Na) by using chlorine as oxidant. The ferrates (VI) are compounds which contain iron under its oxidation state +6. They gain growing importance in the industrial effluent and water treatment because of multipurpose nature of FeVI. Although the existence of alkaline ferrates has been mentioned for one century, the alkaline ferrates were not the subject of a considerable number of studies. This is mainly due to their instability and difficulties concerning the methods of preparation. The alkaline ferrate synthesis in the rotary reactor was carried out at room temperature and the whole reaction of synthesis was exothermic. For the realized tests of synthesis, solid quantities of (iron salt + AOH) of a few tens of grams up to 400 grams were used. The effects of various parameters on the synthesis process were studied. In the perspective of improving the process of synthesis and applying the industrial extrapolation, the synthesis of ferrate was realised in a fluidized bed reactor. The proceeding occurs by two successive steps: the first consisting in mixing beforehand the sodium hydroxide with ferrous sulphate and the second to fluidize the mixture obtained in the presence of diluted chlorine. The application of this process makes possible to attain a yield in FeVI of about 56 % and the results obtained show a clean and innovative process of low cost for the synthesis of alkaline metal ferrates on a large scale