Yes / In a hard chromium electroplating process, a heat exchanger is employed to remove the heat produced from the high current intensity in an electroplating bath. Normally, a conventional U shape heat exchanger is installed in the bath but it provides low heat removal. Thus, this study designs a novel W serpentine shape heat exchanger with identical heat transfer area to the conventional one for increasing heat removal performance. The performance of the heat exchange is tested with various flow velocities in a cross-section in range of 1.6 to 2.4 m·s− 1. Mathematical models of this process have been formulated in order to simulate and evaluate the heat exchanger performance. The results show that the developed models give a good prediction of the plating solution and cooling water temperature and the novel heat exchanger provides better results at any flow velocity. In addition, the W serpentine shape heat exchanger has been implemented in a real hard chromium electroplating plant. Actual data collected have shown that the new design gives higher heat removal performance compared with the U shape heat exchanger with identical heat transfer area; it removes more heat out of the process than the conventional one of about 23%.

Tails are frequently utilized by animals to enhance their motion agility, dexterity, and versatility, such as a cheetah using its tail to change its body orientation while its legs are all off the ground and a monkey using its tail to stabilize its locomotion on branches. However, limited by technology and application scenarios, most existing legged robots do not include a robotic tail on board. This research aims to explore the possibilities of adding this missing part on legged robots and investigate the tail's functionalities on enhancing the agility, dexterity, and versatility of legged locomotion. In particular, this research focuses on animal-like serpentine tail structure, due to its larger workspace and higher dexterity. The overall research approach consists of two branches: a theoretical branch that focuses on dynamic modeling, analysis, and control of the legged robots with a serpentine robotic tail; and an empirical branch that focuses on hardware development and experiments of novel serpentine robotic tails and novel legged robots with tail. More specifically, the theoretical work includes modeling and control of a general quadruped platform and a general biped platform, equipped with one of the two general serpentine tail structures: an articulated-structure tail or a continuum-structure tail. Virtual work principle-based formulation was used to formulate the dynamic model. Both classic feedback linearization-based control and optimization-based control were used to coordinate the leg motions and the tail motion. Comparative studies on different tail structures as well as numerical analyses on robotic locomotion were performed to investigate the dynamic effects of serpentine robotic tails. The empirical work includes the developments and experiments of two novel serpentine robotic tail mechanisms and one first-of-its-kind quadruped robot ("VT Lemur") equipped with a serpentine robotic tail. To develop these novel robots, a systematic approach based on dynamic analysis was used. Various experiments were then conducted using the robot hardware. Both the theoretical and empirical results showed that the serpentine robotic tail has significant effects on enhancing the agility, dexterity, and versatility of legged robot motion. / Doctor of Philosophy / Quadruped robots have made impressive progresses over the past decade and now can easily achieve complicated, highly dynamic motions, such as the backflip of the MIT Mini Cheetah robot and the gymnastic parkour motions of the Atlas robot from Boston Dynamics, Inc. However, by looking at nature, many animals use tails to achieve highly agile and dexterous motions. For instance, monkeys are observed to use their tails to grasp branches and to balance their bodies during walking. Kangaroos are found to use their tails as additional limbs to propel and assist their locomotion. Cheetahs and kangaroo rats are thought to use their tails to help maneuvering. Therefore, this research aims to understand the fundamental principles behind these biological observations and develop novel legged robots equipped with a serpentine robotic tail. More specifically, this research aims to answer three key questions: (1) what are the functional benefits of adding a serpentine robotic tail to assist legged locomotion, (2) how do animals control their tail motion, and (3) how could we learn from these findings and enhance the agility, dexterity, and versatility of existing legged robots. To answer these questions, both theoretical investigations and experimental hardware testing were performed. The theoretical work establishes general dynamic models of legged robots with either an articulated tail or a continuum tail. A corresponding motion control framework was also developed to coordinate the leg and tail motions. To verify the proposed theoretical framework, a novel quadruped robot with a serpentine robotic tail was developed and tested.

Les serpentinites sont un composant important de la lithosphère océanique formée niveau de rides lentes à ultra-lentes. Ces roches représentant un vaste réservoir de l'eau, d’éléments mobiles dans les fluides (FME), halogènes et volatils, il a été proposé qu'elles jouent un rôle important pendant l'échange chimique se produisant entre la lithosphère subduite et le coin mantellique dans des zones de subduction. L’objectif de mon doctorat a été de caractériser la nature et la composition des fluides transférés depuis la plaque plongeante jusqu’au coin mantellique en étudiant des ophiolites alpines métamorphiques. Celles-ci se composent en grande partie de serpentinites et ont enregistré différentes conditions métamorphiques modélisant un gradient de subduction. Les études pétrologiques des ophiolites alpines montrent que celles-ci ont enregistré différentes étapes de serpentinisation et de déserpentinisation : (1) serpentinisation océanique et la formation d’assemblages à lizardite et à chrysotile ; (2) déstabilisation prograde de la serpentine océanique en antigorite, à la transition des faciès schistes verts – schistes bleus ; (3)déshydratation de l'antigorite en olivine secondaire dans les conditions du facies d'éclogite. Les analyses chimiques des éléments en trace par LA-ICPMS et constituants volatils et halogènes par SIMS prouvent que, pendant la subduction, les processus de serpentinisation se sont réalisés sans contamination significative par des fluides externes provenant de la déshydratation des sédiments. Dans la partie la superficielle de la lithosphère océanique, la déformation augmente la mobilité des éléments en trace et permet leur redistribution et l'homogénéisation de la composition d'antigorite à l'échelle kilométrique. Au contraire, dans la partie la plus profonde de la lithosphère serpentinisée, la mobilité des éléments en trace est réduite et localisée dans des veines métamorphiques qui constituent des chenaux de circulation des fluides. Les cristallisations successives de l'antigorite et de l'olivine secondaire sont accompagnés d'une diminution des concentrations en FME (B, Li, As, Sb, Ba, Rb, Cs…), halogènes (F, Cl) et volatils (S). La quantification de Fe3+/FeTotal, par chimie humide et spectroscopie XANES, des serpentinites et serpentines montrent que, dans les premières phases de subduction, la transition de lizardite en antigorite est accompagnée d'une réduction forte du fer. Cette réduction est non linéaire avec le degré métamorphique, mais dépend également de la chimie initiale du protolithe péridotitique. À un degré métamorphique plus élevée, le début du processus de déserpentinisation se produit dans un environnement ferreux, menant à une nouvelle oxydation de l'antigorite résiduelle. En conclusion, les serpentinites sont un vecteur de transfert d'éléments depuis la ride jusqu’aux zones de subduction. Pendant la subduction et pendant les changements de phases de la serpentine, les teneurs en FME, en éléments volatils et halogènes de la serpentine diminuent, suggérant que ces éléments sont soustraits dans une phase fluide qui peut potentiellement contaminer le coin mantellique. La nature de ce fluide varie au cours de la subduction. Dans les premiers kilomètres de la subduction, lors de la transition lizardite vers antigorite, les fluides relâchés sont riches en FME, volatils et halogènes. Ils pourraient oxyder le coin mantellique (e.g. SOX, H2O ou CO2) où ils initieraient la cristallisation d’une serpentine riche en ces éléments. A l’inverse, à plus grande profondeur, la déshydratation de l’antigorite libère une quantité moindre de FME, volatils et halogènes. De plus, l’observation d’antigorite riche en Fe3+ associée à l’olivine de déserpentinisation pourrait suggérer la production d’hydrogène lors de la déshydratation de la plaque plongeante. / Serpentinites are an important component of the oceanic lithosphere formed at (ultra-) slow spreading ridges. Because these rocks are a large reservoir of water, fluid mobile elements (FME), halogens and volatiles, it has been proposed that they play a major role during chemical exchange occurring between the subducted lithosphere and the mantle wedge in subduction zones. The aim of my PhD was to characterize the nature and the composition of the fluids transferred from the slab to the mantle wedge by studying metamorphic alpine ophiolites. Those ones are mostly composed of serpentinites and have recorded different metamorphic conditions modeling a subduction gradient. The petrological studies of alpine ophiolites demonstrate that they record different serpentinization and deserpentinization steps: (1) from oceanic serpentinization and the formation of lizardite and chrysotile assemblages, (2) to the prograde destabilization of oceanic serpentine into antigorite, from greenshist to blueschist facies, and (3) finally the dehydration of antigorite into secondary olivine at eclogite facies. The chemical analyses of trace elements by LA-ICPMS and volatiles and halogens by SIMS show that during subduction, the serpentinization processes took place in a relatively closed system without significant external fluid contamination from sediments. In the shallowest part of the oceanic lithosphere, the deformation enhances the mobility of trace elements and permits their redistribution and the homogenization of antigorite composition at kilometric scale. While in the deepest part, the trace element mobility is reduced and localized in metamorphic veins that correspond to channel fluid flows. The successive crystallization of antigorite and secondary olivine are accompanied by a decrease of FME (B, Li, As, Sb, Ba, Cs…), halogens (F, Cl) and volatiles (S) concentrations. The quantification of Fe3+/FeTot by wet chemistry and XANES spectroscopy in serpentinites and serpentine show that, in the first stages of subduction, the transition lizardite to antigorite is accompanied by a strong reduction of the iron. This reduction is nonlinear with metamorphic grade, but also depends on the initial chemistry of the peridotitic protolith. At higher metamorphic grade, the beginning of the deserpentinization process occurs in a ferrous environment, leading to a new oxidation of the remaining antigorite. To conclude, serpentinites are a vector of element transfer from the ridge to subduction zones. During subduction and during the phase changes of serpentine, the FME, volatile and halogen concentrations of serpentine decrease, suggesting that they are removed in a fluid phase that can potentially contaminate the mantle wedge. The composition and the nature of this fluid phase vary during prograde metamorphism. In the first stages of subduction, during the transition lizardite to antigorite, the released fluids are FME, volatiles and halogens rich. They could oxidize the mantle wedge peridotite (e.g. SOX, H2O or CO2) where they allow the crystallization of a FME, volatils and halogens-rich serpentine. At greater depth, the formation of a Fe3+-rich antigorite associated with secondary olivine suggests a H2 production during slab dehydration.

No description available.

Intensive cytotype screening in the primary contact zone of relict serpentine Knautia arvensis agg. revealed a striking predominance of the derivative tetraploid (81 % of subpopulations) over the diploid maternal race. Eleven mixed-ploidy subpopulations with the close spatial proximity of both cytotypes were identified. Flow cytometric analyses of almost 5 000 individuals led to discovery of two extremely rare minority cytotypes (3x, 6x). Vegetation analyses were made at two different spatial scales and in both cases confirmed the absence of distinctions in habitat preferences of cytotypes. Slight microhabitat segregation of cytotypes was however apparent at the finest spatial scales. Cytotype distribution within mixed-ploidy sites was not random. Striking patterns of cytotype clumping into cytotype uniform patches and negative spatial correlations between diploid and tetraploid individuals were apparent at all sites. Distribution of life cycle stages of diploids and tetraploids within the mixed-ploidy subpopulations were significantly different. The clonality was the most common mode of reproduction in the subpopulations of both cytotypes. Seedlings accounted for only 7 % of new plants. Significant distinctions in the plant vigour between the cytotypes were showed during the in situ comparison in...

Os produtos derivados de asbesto são amplamente utilizados pelo setor industrial, sendo descritas diversas doenças relacionadas à sua exposição, entre elas, o tumor primário da pleura, ou mesotelioma. O mecanismo fisiopatológico da lesão pelas fibras de asbesto no espaço pleural ainda não está totalmente estabelecido. Entre os fatores possivelmente implicados estão os efeitos provocados por uma resposta inflamatória com migração celular e liberação de mediadores moleculares levando à necrose, apoptose e alterações na proliferação e fibrogênese. No entanto, existem dificuldades no estudo da resposta in vivo ao asbesto, principalmente em virtude da população multicelular da cavidade pleural. Neste sentido, tem sido preconizado na literatura o estudo envolvendo animais geneticamente modificados ou selecionados, a fim de melhor compreender o papel das diversas populações envolvidas neste processo. Neste trabalho, tivemos como objetivo estudar comparativamente a resposta inflamatória aguda no líquido pleural e em células mesoteliais em cultura expostas a diferentes fibras de asbesto. Para tanto, animais controle e geneticamente selecionados para alta (AIR max) e baixa (AIR min) resposta inflamatória, e células mesoteliais em cultura foram expostas às fibras de asbesto crocidolita ou crisotila. Após 4, 24 ou 48 horas foram avaliadas a produção das citocinas IL-1b, IL-6 e MIP-2. Adicionalmente, no modelo in vivo foi avaliado o perfil celular do líquido pleural e a expressão do Ra PDGF em RESUMO fragmentos de pleura, e no modelo in vitro a resposta celular de apoptose e necrose. Como resultados, as fibras de asbesto crocidolita e crisotila produziram, em animais AIR max, uma elevação significativa no líquido pleural de leucócitos, neutrófilos e da IL-1b em comparação aos controles e aos animais AIR min. Entretanto, não houve diferença no número de macrófagos, IL-6 e MIP-2. As células mesoteliais em cultura expostas tanto às fibras crocidolita quanto crisotila apresentaram elevados índices de apoptose e necrose e da produção das citocinas IL-1b, IL-6 e MIP-2 quando comparadas aos controles. Houve forte correlação das citocinas MIP-2 e IL-1b em cultura com os níveis no líquido pleural para ambas as fibras estudadas. Foi demonstrado, para ambas as fibras, uma forte expressão do Ra PDGF na superfície pleural tanto nos animais com alta quanto com baixa resposta inflamatória quando comparado aos controles. Como conclusão, caracterizamos o perfil da resposta inflamatória aguda a diferentes fibras de asbesto em modelos experimentais in vivo e in vitro, contribuindo para a melhor compreensão do mecanismo de agressão celular secundário a este material de uso comercial tão freqüente. / Asbestos-derived products are used thoroughly by industry. Several diseases related to asbestos exposition have been described, among them the primary tumor of the pleura mesothelioma. The mechanisms by which asbestos fibers produce injury to the pleural space are not clear. Among the factors possibly implicated are the effects secondary to an inflammatory response characterized by cellular migration and the release of molecular mediators leading to necrosis, apoptosis, cellular proliferation and fibrogenesis. However, it is difficulty to characterize the cellular response in vivo, mainly by virtue of the multi-cellular population present into the pleural cavity. Therefore, studies involving animals genetically modified or genetically selected have been proposed in the literature, in order to better understand the role of the several cellular populations involved in this complex process. In this study, our objective was to determine the inflammatory response of the pleural fluid and compare to the response of cultured mesothelial cells exposed to different asbestos fibers. Controls and mice genetically selected for high (AIR max) or low (AIR min) inflammatory response as well as mice cultured mesothelial cells were treated to crocidolite or chrysotile asbestos fibers. After 4, 24 or 48 hours the production of the cytokines IL-1b, IL-6 and MIP-2 were analyzed. In addition, the in vivo cellular profile of the pleural fluid and the Ra PDGF expression in the pleura fragments was documented. In parallel, the in vitro mesothelial cellular response of apoptosis and necrosis was quantified. Both asbestos fibers produced in AIR max mice a significant elevation in the pleural fluid total leukocytes, neutrophils and IL-1b levels in comparison to the controls and AIR min animals. However, no difference was found in the macrophage number, IL-6 and MIP-2 levels. Cultured mesothelial cells had a high apoptosis, necrosis, IL-1b, IL-6 and MIP-2 levels in comparison to the controls when exposed to either crocidolite or chrysotile. MIP-2 and IL-1b levels in cultured mesothelial cells strongly correlated with the levels of the pleural fluid for both fibers. In addition, a pronounced expression of Ra PDGF in the pleural surface was demonstrated in both high and low inflammatory selected mice when compared to the controls. In conclusion, we characterized the acute inflammatory response to the asbestos fibers crocidolite and chrysotile in an in vivo and in vitro experimental model, aiming to contribute to better understand the mechanism of cellular aggression secondary to this particulate material of such frequent commercial use.

Os produtos derivados de asbesto são amplamente utilizados pelo setor industrial, sendo descritas diversas doenças relacionadas à sua exposição, entre elas, o tumor primário da pleura, ou mesotelioma. O mecanismo fisiopatológico da lesão pelas fibras de asbesto no espaço pleural ainda não está totalmente estabelecido. Entre os fatores possivelmente implicados estão os efeitos provocados por uma resposta inflamatória com migração celular e liberação de mediadores moleculares levando à necrose, apoptose e alterações na proliferação e fibrogênese. No entanto, existem dificuldades no estudo da resposta in vivo ao asbesto, principalmente em virtude da população multicelular da cavidade pleural. Neste sentido, tem sido preconizado na literatura o estudo envolvendo animais geneticamente modificados ou selecionados, a fim de melhor compreender o papel das diversas populações envolvidas neste processo. Neste trabalho, tivemos como objetivo estudar comparativamente a resposta inflamatória aguda no líquido pleural e em células mesoteliais em cultura expostas a diferentes fibras de asbesto. Para tanto, animais controle e geneticamente selecionados para alta (AIR max) e baixa (AIR min) resposta inflamatória, e células mesoteliais em cultura foram expostas às fibras de asbesto crocidolita ou crisotila. Após 4, 24 ou 48 horas foram avaliadas a produção das citocinas IL-1b, IL-6 e MIP-2. Adicionalmente, no modelo in vivo foi avaliado o perfil celular do líquido pleural e a expressão do Ra PDGF em RESUMO fragmentos de pleura, e no modelo in vitro a resposta celular de apoptose e necrose. Como resultados, as fibras de asbesto crocidolita e crisotila produziram, em animais AIR max, uma elevação significativa no líquido pleural de leucócitos, neutrófilos e da IL-1b em comparação aos controles e aos animais AIR min. Entretanto, não houve diferença no número de macrófagos, IL-6 e MIP-2. As células mesoteliais em cultura expostas tanto às fibras crocidolita quanto crisotila apresentaram elevados índices de apoptose e necrose e da produção das citocinas IL-1b, IL-6 e MIP-2 quando comparadas aos controles. Houve forte correlação das citocinas MIP-2 e IL-1b em cultura com os níveis no líquido pleural para ambas as fibras estudadas. Foi demonstrado, para ambas as fibras, uma forte expressão do Ra PDGF na superfície pleural tanto nos animais com alta quanto com baixa resposta inflamatória quando comparado aos controles. Como conclusão, caracterizamos o perfil da resposta inflamatória aguda a diferentes fibras de asbesto em modelos experimentais in vivo e in vitro, contribuindo para a melhor compreensão do mecanismo de agressão celular secundário a este material de uso comercial tão freqüente. / Asbestos-derived products are used thoroughly by industry. Several diseases related to asbestos exposition have been described, among them the primary tumor of the pleura mesothelioma. The mechanisms by which asbestos fibers produce injury to the pleural space are not clear. Among the factors possibly implicated are the effects secondary to an inflammatory response characterized by cellular migration and the release of molecular mediators leading to necrosis, apoptosis, cellular proliferation and fibrogenesis. However, it is difficulty to characterize the cellular response in vivo, mainly by virtue of the multi-cellular population present into the pleural cavity. Therefore, studies involving animals genetically modified or genetically selected have been proposed in the literature, in order to better understand the role of the several cellular populations involved in this complex process. In this study, our objective was to determine the inflammatory response of the pleural fluid and compare to the response of cultured mesothelial cells exposed to different asbestos fibers. Controls and mice genetically selected for high (AIR max) or low (AIR min) inflammatory response as well as mice cultured mesothelial cells were treated to crocidolite or chrysotile asbestos fibers. After 4, 24 or 48 hours the production of the cytokines IL-1b, IL-6 and MIP-2 were analyzed. In addition, the in vivo cellular profile of the pleural fluid and the Ra PDGF expression in the pleura fragments was documented. In parallel, the in vitro mesothelial cellular response of apoptosis and necrosis was quantified. Both asbestos fibers produced in AIR max mice a significant elevation in the pleural fluid total leukocytes, neutrophils and IL-1b levels in comparison to the controls and AIR min animals. However, no difference was found in the macrophage number, IL-6 and MIP-2 levels. Cultured mesothelial cells had a high apoptosis, necrosis, IL-1b, IL-6 and MIP-2 levels in comparison to the controls when exposed to either crocidolite or chrysotile. MIP-2 and IL-1b levels in cultured mesothelial cells strongly correlated with the levels of the pleural fluid for both fibers. In addition, a pronounced expression of Ra PDGF in the pleural surface was demonstrated in both high and low inflammatory selected mice when compared to the controls. In conclusion, we characterized the acute inflammatory response to the asbestos fibers crocidolite and chrysotile in an in vivo and in vitro experimental model, aiming to contribute to better understand the mechanism of cellular aggression secondary to this particulate material of such frequent commercial use.

Skokloster castle, Sweden, houses a group of more than fifty objects in serpentine stone, acquired during the 17th century. The group is generally called Wrangels fältservis [Wrangel’s field service], referring to field marshall Carl Gustaf Wrangel (1613-1676). The, in many aspects, unresearched material is here approached through the field of material culture studies. The thesis is based on a three-partite approach towards the material, in which the first is the result of actual handling and examination of the objects, paired with a comparative analysis of similar objects regarding dating and influences. The second is a theoretical study of form and serpentine matter, and why the serpentine objects share so many form elements with metal artifacts. The third is based on inventory research and aspects of value, both monetary and cultural. The ascribed value of the group varied over time, from being used as kitchen utensils in the 17th and 18th century, to be regarded as private museum pieces in the 19th and 20th century. The various attitudes have left marks on the objects, both physical (as in level of attention given to repairs etc.) and in inventory matter (as in location and descriptive detail), which can be studied and reveal information otherwise unaccessible.

All modern High Temperature Reactors (HTR) thermal cycles have one thing in common: the use of some form of heat exchanger. This heat exchanger is used to pre-heat or cool the primary loop gas, from where the secondary power generation cycle is driven. The Compact Heat Exchanger (CHE) type offers high heat loads in smaller volumes. Various studies have been done to improve the heat transfer in the flow channels of these CHEs but little focus has been placed on the thermal design of surrounding material in such a heat exchanger. The focus of this study is on the effective material usage in a CHE. Three test cases were investigated (trapezoidal, serpentine and zigzag layouts with semi-circular cross-sections) all under the same boundary conditions. Computational Fluid Dynamics (CFD) was used to simulate these test cases and the results were evaluated according to four factors, the volume ratio, heat spots, temperature difference and the combined enhancement factor. From the results it was concluded that the zigzag layout performs best when evaluated according to the volume ratio and the temperature difference and gave the best overall enhancement factor. The serpentine layout performed the worst when evaluated according to the enhancement factor. / Thesis (MIng (Nuclear Engineering))--North-West University, Potchefstroom Campus, 2013

All modern High Temperature Reactors (HTR) thermal cycles have one thing in common: the use of some form of heat exchanger. This heat exchanger is used to pre-heat or cool the primary loop gas, from where the secondary power generation cycle is driven. The Compact Heat Exchanger (CHE) type offers high heat loads in smaller volumes. Various studies have been done to improve the heat transfer in the flow channels of these CHEs but little focus has been placed on the thermal design of surrounding material in such a heat exchanger. The focus of this study is on the effective material usage in a CHE. Three test cases were investigated (trapezoidal, serpentine and zigzag layouts with semi-circular cross-sections) all under the same boundary conditions. Computational Fluid Dynamics (CFD) was used to simulate these test cases and the results were evaluated according to four factors, the volume ratio, heat spots, temperature difference and the combined enhancement factor. From the results it was concluded that the zigzag layout performs best when evaluated according to the volume ratio and the temperature difference and gave the best overall enhancement factor. The serpentine layout performed the worst when evaluated according to the enhancement factor. / Thesis (MIng (Nuclear Engineering))--North-West University, Potchefstroom Campus, 2013