The Discrete Element Method (DEM) has been applied to numerical modelling of the bulk compression of low modulus particulates. An existing DE code for modelling the contact mechanics of high modulus particles using a linear elastic contact law was modified to incorporate non-linear viscoelastic contact, real containing walls and particle deformation. The new model was validated against experimental data from the literature and physical experiments using synthetic spherical particles, apple and rapeseed. It was then used to predict particle deformation, optimum padding thickness in a handling line and bulk compression parameters during oilseed expression. The application of DEM has previously been limited to systems of hard particles of high compressive and shear modulii with relatively low failure strain. Material interactions have therefore commonly been modelled using linear contact law. For high modulus particles, particle shape change resulting from deformation is a not a significant factor. Most agricultural particulates however deform substantially before failure and their interaction is better represented with non-linear hysteretic viscoelastic contact relationship. Deformation of geometrically shaped particles in DEM is usually treated as "virtual" deformation, which means that particles are allowed to overlap rather than deform due to contact force. Change to particle shape has not previously been possible other than in the case of particles modelled as 2-D polygons or where each particle is also modelled concurrently with an FE mesh. In this work a new approach has been developed which incorporates a non-linear deformation dependent contact damping relationship and a shape change while maintaining sufficient geometrical symmetry to allow the problem to be handled by the same DE algorithms as used for true spheres. The method was validated with available experimental results on impact behaviour of rubber and the variations with different damping coefficients were simulated for a selected fruit. A fruit handling process dependent on the impact process was then simulated to obtain data required in the design of a fruit processing line. Changes in shape of spherical synthetic rubber particles and rapeseeds under compression were predicted and validated with physical experiments. Images were taken and analysed using image processing techniques with 1: 1 scaling. The method on shape change entails a number of simplifying assumptions such as uniform stress distribution and homogeneous material properties and uniform material distribution when deformed, which are not observed in real agricultural materials and will tend to overestimate the true contact area between particles. In reality for fruits and vegetables, material redistribution is a complex process involving a combination of compaction and movement. However with the new method a better approximation of bed voidage (which standard DEM approaches underestimate) and stress were obtained in the compression of a synthetic material. This is a significant improvement on existing methods particularly with respect to stress distribution within a bulk particulate system comprising deforming elements where the size and orientation of contact surface between particles has a strong influence on the bulk modulus. The new model was used for prediction of mechanical oil expression in four oilseed beds. Similar patterns in the variation of the characteristic parameters were obtained as observed in existing experimental data. The data could not be matched exactly as the quantity and arrangement of seeds in the initial seedbeds were not the same as those used in the experimental work. However the DE model gave approximate oil point data for seedbeds with the same physical properties and initial conditions as in the experiment. This suggests that the new model may be a useful tool in the study of mechanical seed-oil expression and other agricultural particulate compression processes.

No description available.

Selection for increased encephalization in humans necessitated extensive brain growth after birth. To estimate changes in rates of growth and corresponding shape changes during gestation and infancy, chord and arc distances were obtained from the frontal, parietal, and occipital bones of 44 human fetuses, neonates, and infants (one year old and younger). Rates of growth in chord and arc measurements were calculated and compared using linear regression of log-transformed variables, followed by ANCOVA. Curvature of bone lengths and widths were estimated by chord/arc indices. Fetal rates of cranial growth were significantly slower while the fetal frontal and occipital bones were significantly more curved than those of infants. Fetal rates of cranial growth decrease during the first six postnatal months, in conjunction with rapid changes in shape, except for parietal superior-inferior height where bossing of the bone is similar in fetuses and neonates.

This thesis describes the concept of programmable materials with tunable physical properties applicable to soft robots. We present these materials for three major applications in soft robotics: sensing, actuation, and robotic manipulation. The strain sensors recognize the internal stimuli in a soft robot, whereas the conductors collect the sensors’ signals to the control part. In the first part, we want to develop both stretchable strain sensors and conductors from a single material by programming a nanowire network’s electrical property, which we achieve through Electrical Welding (e-welding). We demonstrate the transformation of a Silver Nanowire (AgNW)-polymer sponge from a strain sensor to a stretchable conductor through e-welding. Using this method, we produced a soft hybrid e-skin having both a sensor and conductor from a single material. In the second part, we propose new active actuation solutions by obtaining quick, tunable pressure inside a soft material that we achieve through a liquid-gas phase transition of a stored liquid using an efficient electrode. We discuss the significant design variables to improve the performance and propose a new design for the electrodes, for enhancing actuation speed. We propose using low voltage equipment to trigger the phase transition to produce compact actuation technology for portable applications. Using this method, we produced a portable soft gripper. In the third and last part, we want to develop a simple robotic manipulation technology using a single-chambered soft body instead of a multi-chambered system. We propose using on-demand stiffness change in soft material to control the shape change of a single-chambered soft body. For this, we introduce a new concept of a stiffness tunable hybrid fiber: a fiber with stiff and soft parts connected in a series. We demonstrate a substantial change in membrane stiffness in the fiber through locking/unlocking of the soft part of the fiber. We integrated these fibers into a pneumatically operated single-chambered soft body to control its stiffness for on-demand shape change. If applied together, these three concepts could result in a fully printable, cheap, light, and easily controllable new generation soft robots with augmented functionalities.

No description available.

While a large body of work has focused on the transcriptional regulation of cellular identity, the role of the mechanical properties of cells and the importance of their physical interactions with the local environment remains less well understood. In this project, we explored the impact of cytoskeleton-generated forces exerted on the nucleus in the context of early embryonic stem (ES) cell fate decisions. We chose to perturb force generating components in the cytoskeleton – notably the molecular motor non-muscle myosin II - and key structural and chromatin binding proteins in the nuclear envelope, notably, the lamins (LMNA), Lamin B receptor (LBR) and components of the LINC complex (nesprins/KASH). The structural proteins in the nuclear envelope regulate both the mechanical response of the nucleus to force and the stabilization of peripheral heterochromatin (repressed genes). Our hypothesis is that reducing forces transmitted directly to chromatin or increasing tethering of peripheral heterochromatin to the nuclear envelope would restrict access to lineage specific genes sequestered at the nuclear lamina and thereby either impair, or delay, differentiation. We found phenotypes in the capacity of mouse ES cells to specify to the neural lineage following our perturbations: overexpression of LMNA, LBR and KASH proteins resulted in a significant fraction of cells that did not express the neuroectoderm marker Sox1 after four days of differentiation, while inhibiting non-muscle myosin II delayed Sox1 expression in the entire population. Overexpression of LMNA and LBR did not affect the ability of the cells to exit the naive pluripotent state, which raises the possibility that the perturbations are halting the cells in a formative phase prior to lineage specification. Future work will focus on looking at genome-wide transcriptional changes accompanying differentiation combined with an analysis of spatial information of differentially regulated genes.

La « surface », dans les systèmes interactifs tactiles est à la fois le support du toucher et de l’image. Alors qu’au fil du temps les surfaces tactiles se sont transformées dans leur épaisseur, forme et rigidité, la modalité d’interaction se limite, comme sur les premiers dispositifs, à une mise en contact simple du doigt avec l’écran dans un geste qui feint de manipuler ce qui est affiché. Le sens du toucher, même pour des dispositifs tactiles installés dans des systèmes critiques comme dans l’aéronautique ou l’automobile, reste essentiellement sollicité en tant que prolongement de la vision, pour pointer et contrôler. Alors que les théories de la phénoménologie de la perception, de la perception écologique et des interactions tangibles et incarnées reconnaissent l’importance du corps, de la motricité et des interactions avec l’environnement dans les phénomènes perceptifs, il paraît réducteur de continuer à considérer la vision comme sens premier et principal de l’interaction tactile.Nous pensons que la transformation de la forme physique de l’interface tactile est un moyen efficace pour réincarner l’espace d’interaction tactile en utilisant mieux les capacités motrices des utilisateurs ainsi que leurs habiletés à négocier, manipuler et s’orienter dans leur environnement. A partir d’une caractérisation des risques potentiels du développement des interactions tactiles dans le contexte d’un cockpit d’avion de ligne (augmentation de la charge cognitive, sur-sollicitation du canal visuel, altération de la conscience de la situation, etc.), nous explorons les apports d’une interface tactile à changement de forme pour améliorer la collaboration pilotes-système au travers de la conception, la fabrication et l’évaluation de trois prototypes fonctionnels. Avec l’étude qualitative et quantitative du prototype GazeForm, nous montrons que le changement de forme d’une surface tactile en fonction de la position du regard permet de diminuer la charge de travail, améliorer la performance, réduire les mouvements oculaires et améliorer la distribution de l’attention visuelle comparativement à un écran tactile classique. Par l’élaboration du concept Multi-plié nous mettons en évidence les dimensions et propriétés de la transformation par pliure d’une surface d’affichage interactive. Avec les évaluations qualitatives des deux dispositifs illustrant le concept, le premier présentant une série d’écrans tactiles articulés et le deuxième une surface d'affichage tactile « plissable », nous démontrons qu’une surface tactile continue pliable offre un support pertinent à l'interaction incarnée et permet d’augmenter la sensation de contrôle pour la gestion d’un système critique. Enfin, pour généraliser la connaissance produite à d’autres contextes d’usages avec une forte division de l’attention visuelle (conduite automobile, salle de contrôle, appareil tactile portable en mobilité) nous proposons un espace de conception pour les interfaces tactiles reconfigurables. / The "surface" in interactive touch systems is both the support of touch and image. While over time touch surfaces have been transformed in their thicknesses, shapes and stiffness, the interaction modality is limited, as on the first devices, to a simple contact of the finger with the screen in a gesture that pretends to manipulate what is displayed. The sense of touch, even for touch devices installed in critical systems, such as in the aeronautics or automotive industries, remains mainly used as an extension of vision, to point and control. While the theories of the phenomenology of perception, ecological perception and tangible and embodied interactions recognize the importance of the body, motor skills and interactions with the environment in perceptual phenomena, it seems simplistic to consider vision as the first and main sense of touch interaction. We believe that transforming the physical form of the touch interface is an effective way to reincarnate the space of touch interaction by making better use of users' motor skills and their ability to negotiate, manipulate and orient themselves in their environment. Based on a characterization of the potential risks of developing touch interactions in the context of an airliner cockpit (increase in cognitive load, overload of the visual channel, alteration of situational awareness, etc.), we explore, through the design, manufacture and evaluation of three functional prototypes, the contributions of a touch interface with shape change to improve pilotes-system collaboration. With the qualitative and quantitative study of the GazeForm prototype, we show that changing the shape of a touch surface according to the position of the gaze makes it possible, compared to a conventional touch screen, to reduce the workload, improve performance, reduce eye movements and improve the distribution of visual attention. By qualitative evaluation of the two Multi-plié devices, the first with a series of articulated touch screens and the second with a "pleatable" touch display surface, we show that a transformable touch surface stabilizes touch action, promotes collaboration and improves situational awareness. In addition to these contributions, we find that changing the shape of the touch interaction surface increases the feeling and level of control for the management of a critical system. Finally, to generalize the knowledge produced to other contexts of use with a strong division of visual attention (driving, control room, portable touch device in mobility) we propose a design space for reconfigurable touch interfaces.

Les travaux de cette thèse s’intéressent au comportement mécanique d’une mousse destinée à l’absorption d’énergie dans une assise de siège pilote. Les méthodes de caractérisation habituelles proposent de solliciter le matériau suivant une seule direction. Cependant, cette caractérisation ne permet pas d’être représentatif des sollicitations lors de l’utilisation de l’assise, qui sont multiaxiales. Cette étude s’intéresse donc à la caractérisation du comportement multiaxial d’une mousse. L’approche originale utilisée est une séparation du comportement en deux contributions: changement de volume (pression-volume) et de forme (distorsion-cisaillement). Un premier moyen d’essais de compression hydrostatique a été développé afin de caractériser le changement de volume. Les résultats mettent en évidence une forte influence de la contribution en changement de volume, lors d’une sollicitation de compression uniaxiale. Un deuxième moyen d’essais a été développé permettant d’appliquer des sollicitations radiales suivant un angle cinématique ϑε, imposant une proportion de volume et de distorsion. Les résultats montrent une forte influence de l’angle cinématique sur les comportements des contributions de changement de volume et de forme. D’autres sollicitations impliquant de la compression et du cisaillement d’une manière séquentielle ont montré une influence du niveau de volume sur le comportement en changement de forme. Enfin, un modèle de simulation 2D par assemblage d’éléments finis 1D, montre une bonne représentation des différents comportements des contributions de changement de volume et de forme obtenus expérimentalement. / This thesis is focused on the mechanical behavior of foam designed to absorb energy in an airplane pilot seat cushion. Usually, these materials are characterized using uniaxial compressive test. Nevertheless, this uniaxial characterization doesn’t represent the real in-use loading of cushion. To complete these data, this work focuses on multiaxial behavior characterization of foam. The analysis of behavior is realized by using a separation into two contributions linked to the volume (pressure-volume) and the shape (distortion-shear) change. A hydrostatic testing system was developed with the aim to characterize the volume change behavior. Results highlight a strong influence of the volume change behavior during an uniaxial compression solicitation. A second testing system was developed allowing to apply radial solicitations following a kinematic angle, which imposes a non-proportional variation of volume and distortion. A kinematic angle influence is observed on the volume and shape change behavior. Other solicitations composed of compression and shear applied in a sequential way, permit to observe a volume influence on the shape change behavior. Finally, a 2D simulation model composed of 1D element composition shows a good representation of the volume and shape changes behavior obtained from experimentation.

abstract: “Smart” materials are used for a broad range of application including electronics, bio-medical devices, and smart clothing. This work focuses on development of smart self-sealing and breathable protective gear for soldiers against Chemical Weapon Agents (CWA). Specifically, the response of chemo-mechanical swelling polymer modified meshes to contact with stimuli droplets was studied. Theoretical discussion of the mechanism of smart materials is followed by development and experimental analysis of different modified mesh designs. A multi-physics model is proposed based on experimental data and the prototype of the fabric is tested in aerosol impingement conditions to confirm the barrier formed by rapid-self-sealing feature of the design. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2016

No description available.