The inner ear contains cells with ciliary bundles that have been identified as sites of mechanoelectrical transduction; they take a mechanical stimuli and convert it to an electrical response. The ciliary bundles vary structurally within the organs of the inner ear; this structural difference may play a role in the mechanical properties of each bundle. A relationship between the structure and the mechanics of the ciliary bundle can be found by studying structurally diverse bundles. To explore this relationship, a system was designed to mechanically stimulate the ciliary bundles in normal physiological range and measure their displacement. An extrinsic Fabry-Perot interferometer (EFPI) was developed to measure the response of a ciliary bundle that is subjected to a force applied by a glass whisker. 'Imitation bundles', similar in stiffness to living ciliary bundles, were made to test the system. The stiffness of an 'imitation bundle' was first determined by suspending styrene beads from its tip and optically measuring the resultant displacement. Then the EFPI was also used to determine the stiffness. The EFPI compared well to the stiffness found using the styrene beads; the largest difference between the two methods was 130/0. The EFPI was also tested in water to ensure its operation in the tissue environment; this test was successful in that it was able to measure displacements in a bundle's normal physiological range. With both of the tests showing good results, we conclude that our system can be used to measure the stiffness of the ciliary bundles located in the inner ear. / Master of Science

<p dir="ltr">To ensure safety, traditional industrial robots must operate within cages to separate them from human workers. This requirement has led to the rapid development of collaborative robots (cobots) designed to work closely to humans. However, existing cobots often prioritize <a href="" target="_blank">performance </a>aspects, such as precision, speed, and payload capacity, or prioritize safety, leading to a challenging balance between them. To address this issue, this dissertation introduces innovative concepts and methodologies for variable stiffness mechanisms. These mechanisms are applied to create easily fabricated cobot components to allow for controllable trade-offs between safety and performance in human-robot collaboration intrinsically. Additionally, the end-effectors developed based on these mechanisms enable the flexible and adaptive gripping of objects, enhancing the utility and efficiency of cobots in various applications.</p><p dir="ltr">This article-based dissertation comprises five peer-reviewed articles. The first essay introduces a reconfigurable variable stiffness parallel-guided beam (VSPB), whose stiffness can be adjusted discretely. An accurate stiffness model is also established, capable of leveraging a simple and reliable mechanical structure to achieve broad stiffness variation. The second essay discusses several discrete variable stiffness actuators (DVSAs) suitable for robotic joints. These DVSAs offer high stiffness ratios, rapid shifting speeds, low energy consumption, and compact structures compared to most existing variable stiffness actuators. The third essay introduces a discrete variable stiffness link (DVSL), applied to the robotic arm of a collaborative robot. Comprising three serially connected VSPBs, it offers eight different stiffness modes to accommodate diverse application scenarios, representing the first DVSL in the world. The fourth essay presents a variable stiffness gripper (VSG) with two fingers, each capable of continuous stiffness adjustment. The VSG is a low-cost, customizable universal robotic hand capable of successfully grasping objects of different types, shapes, weights, fragility, and hardness. The fifth essay introduces another robotic hand, the world's first discrete variable stiffness gripper (DVSG). It features four different stiffness modes for discrete stiffness adjustment in various gripper positions by on or off the ribs. Therefore, unlike the VSG, the DVSG focuses more on adaptability to object shapes during grasping.</p><p dir="ltr">These research achievements have the potential to facilitate the construction and popularize of next-generation collaborative robots, thereby enhancing productivity in industry and possibly leading to the integration of personal robotic assistants into countless households.</p>

Wood beam-column connections have traditionally been designed as simple shear connections, ignoring their potential moment capacity. A major reason for not utilizing such moment connections is linked to the brittle limit states that wood components exhibit. The purpose of this research was to develop and test a ductile and high-strength wood moment frame connection. A design procedure for such a connection is presented herein. The proposed glulam beam-column connection utilizes an embedded steel knife plate with a reduced section that acts as a ductile yield link, thus limiting the moment that can be transferred through the connection. This configuration is intended to fail through yielding of the ductile link, thus preventing non-ductile failure mechanisms of wood from occurring. In addition, the connection provides more wood cover over the embedded steel plate, which potentially may increase the connection's fire rating as compared to typical connections. Two specimens, based on a baseline connection developed using the design procedure presented, were monotonically loaded until failure. Unlike the first specimen, the second was reinforced in the perpendicular-to-grain direction using self-tapping screws. Failure mechanisms were analyzed, and performance characteristics related to the connection's strength, stiffness, and ductility were evaluated. Results indicated that the reinforced specimen exhibited higher strength, stiffness, and ductility compared to the unreinforced specimen. The reinforced specimen showed improvements of 9.49% and 42.2% in yielding and ultimate moment, respectively, compared to the unreinforced specimen. Moreover, an improvement of 31.3% in ductility was obtained using perpendicular-to-grain reinforcement. / Master of Science / Due to the variability of wood properties and its brittle behavior, the joints of wood buildings have traditionally been designed to resist gravity loads only. These types of loads result in predictable behavior of structural wood members at the joints, which helps in simplifying the design process. However, when wood structures are subjected to lateral loads, such as earthquake and wind loads, their joints are likely to fail abruptly as the building sways, resulting in sudden, unpredictable collapse. The purpose of this research was to develop and test a high-strength wood structural joint that can fail gradually and predictably. A design procedure for such a joint is presented herein. The proposed glue-laminated wood joint utilizes an embedded steel plate with a reduced section that acts as a ductile link. This configuration is intended to fail through gradual deformation of the ductile link, thus preventing brittle wood failure at the joint. In addition, this joint provides more wood cover over the embedded steel plate, which potentially may increase the fire resistance of the joint compared to typical configurations. Two specimens, based on a baseline joint developed using the design procedure presented, were subjected to slowly-increasing loads until failure. Unlike the first specimen, the second specimen was reinforced in the direction perpendicular to wood grain using long screws to prevent separation of wood layers. Failure mechanisms were analyzed, and the performance characteristics of the two specimens were evaluated and compared. Results indicated that the reinforced specimen exhibited higher strength and improved ductility at failure.

The ear is the organ used for hearing and maintaining equilibrium. In the inner ear, the vestibular system is responsible for the sense of balance. The main organs of the vestibular system are the semicircular canals, the saccule, and the utricle. Within each of the vestibular organs, sensory receptors in the form of hair cells detect motion and send a message to the brain for interpretation. Hair cells found in different parts of the inner ear are structurally different and are mechanically specialized to perform different functions. In this study, the linear and torsional stiffnesses were measured for hair cells located in the red ear slider turtle utricle. The system used to measure the stiffnesses was composed of a glass whisker (attached to a pipette) used to produce a force on the tip of the bundle, an extrinsic Fabry-Perot interferometer (EFPI) to measure the displacement of the pipette, and a photoelectronic motion transducer (PMT) to measure the displacement of the bundle. Using the measured values of whisker stiffness, whisker displacement, and bundle displacement, the stiffness of the bundle was calculated using statics. For each bundle tested, the location of the bundle was determined by measuring its position from a landmark in the utricle, the line of polarity reversal, characterized by a 180o change in direction of the hair bundles. Stiffness results showed that the linear stiffness of a bundle increased in the area surrounding the line of polarity reversal, otherwise referred to as the striolar region (average linear stiffness of 2.27 E-04 N/m). The average linear stiffness value of bundles found lateral to the striolar region was 6.30 E-05 N/m and in the region medial to the striolar region was 1.16 E-04 N/m. A wide range of linear stiffnesses were found in hair cells medial to the striolar region. There was no correlation found between the torsional stiffness of a bundle and its position and the height of a bundle and its linear or torsional stiffness. As the force applied to a hair bundle was increased, the measured linear stiffness of the bundle also increased. / Master of Science

Spinal stability describes the ability of the neuromuscular system to maintain equilibrium in the presence of kinematic and control variability, and may play an important role in the etiology of low-back disorders (LBDs). The primary mechanism for the neuromuscular control of spinal stability is the recruitment and control of active paraspinal muscle stiffness (i.e., trunk stiffness). The two major components of active muscle stiffness include the immediate stiffness contribution provided by the intrinsic stiffness of actively contracted muscles, and the delayed stiffness contribution provided by the reflex response. The combined behavior of these two components of active muscle stiffness is often referred to as "effective stiffness". In order to understand the neuromuscular control of spinal stability, stochastic system identification methods were utilized and nonparametric impulse response functions (IRFs) calculated in three separate studies in an effort to: 1) Quantify the effective dynamics (stiffness, damping, mass) of the trunk Nonparametric IRFs were implemented to estimate the dynamics of the trunk during active voluntary trunk extension exertions. IRFs were determined from the movement following pseudo-random stochastic force disturbances applied to the trunk. Results demonstrated a significant increase in effective stiffness and damping with voluntary exertion forces. 2) Quantify the reflex dynamics of the trunk Nonparametric IRFs were computed from the muscle electromyographic (EMG) reflex response following a similar pseudo-random force disturbance protocol. Reflexes were observed with a mean response delay of 67 msec. Reflex gain was estimated from the peak of the IRF and increased significantly with exertion effort. 3) Separate the intrinsic and reflexive components of the effective dynamics and determine the relative role of each in the control of spinal stability. Both intrinsic muscle and reflexive components of activation contribute to the effective trunk stiffness. To evaluate the relative role of these components, a nonlinear parallel-cascade system identification procedure was used to separate the intrinsic and reflexive dynamics. Results revealed that the intrinsic dynamics of the trunk alone can be insufficient to counteract the destabilizing effects of gravity. This illustrates the extreme importance of reflexive feedback in the maintenance of spinal stability and warrants the inclusion of reflexes in any comprehensive trunk model. / Ph. D.

Cardiovascular diseases (CVD) are the leading cause of mortality in the United States. Aging is the major risk factor for CVD development, which is independently predicted by arterial stiffness (AS). Arterial stiffening is closely related to age-related arterial structural/functional changes and obesity. Therefore, obese middle-aged and older adults are considered a high CVD risk population. In light of the current obesity epidemic and the projected growth of the older population, there is an overwhelming need to determine if weight loss (WL) may reduce AS (CVD risk) in this population. Thus, we hypothesized that WL via a hypocaloric diet-alone would reduce AS in overweight and obese middle-aged and older adults. To test our hypothesis, baseline assessment of anthropometrics, blood pressure and AS was conducted, and subjects were randomized to a 12-week WL intervention or a control group. Arterial stiffness was measured using applanation tonometry to estimate carotid-femoral artery pulse wave velocity (C-F PWV), and with high-resolution ultrasonography of the carotid artery (β-SI). There were no baseline differences between groups in our variables of interest. Consistent with our hypothesis, both measures of AS were significantly reduced (C-F PWV= -16% and β-SI= -12%, P<0.05) with WL (-8%, P<0.05). Weight loss also resulted in significantly decreased blood pressure, total body and abdominal fat. No such changes were observed in the control group. Pooled correlation analysis suggests that the magnitude of change in C-F PWV was not associated with changes in systolic, diastolic or mean blood pressure. We further hypothesized that reductions in AS, if observed, would be associated with the magnitude of reduction in total body or abdominal adiposity. Concordant with our hypothesis, the reductions in C-F PWV were significantly associated with total and abdominal fat. However, linear regression analysis indicate that neither total body nor abdominal body fat were capable of independently predicting reductions in C-F PWV. Our findings suggest that moderate WL in overweight and obese middle-aged and older adults is an efficacious treatment strategy for reducing AS. Further studies are needed to determine if the improvements in arterial compliance would be sustained with long-term WL maintenance. / Ph. D.

The objective of this research is to show that nonlinearity can be used to improve vibration absorption and suppression of unwanted vibrations in a main system due to external excitation. This was shown by investigating two systems a SDOF (with hardening nonlinearity) and a 2DOF (with softening nonlinearity). The aim of carrying out these investigations was to introduce a passive nonlinear system that can update itself and self-regulate to suppress undesired oscillations. To fulfil the desired gaol, various types of springs were considered and investigated. A commercially available spring called Mag-spring has been chosen and a function for its nonlinearity has been investigated. Mag-Spring is a newly invented spring which is designed to exhibit constant force at its operating range. However, this spring has a special non-linear behaviour before reaching to the constant force domain which is the main focus of the investigation presented in this thesis. The nonlinear behaviour of Mag-spring encouraged the idea that vibration design is possible by the advantages that can be gained from magnetic technology. The added benefit through this new Mag-spring, is that it solved some of the concerns assotiated with old available ones. The most concern norrowing the usage of magnetic springs, is the air gap between the two magnets, which make the attraction or repulsive force unstable through the spring’s working range. Linmot Company, introduced a solution to this concern by introducing a teflone that works as a bearing between the two magnets, which fixed the distance between them while they are sliding againest each other. In the first scenario of this study, a hardening nonlinear spring was added in parallel to a system with a single degree of freedom. The system will remain single degree of freedom as the spring was added in parallel without additional mass. The hardening spring shows low stiffness at low amplitude and high stiffness at higher amplitude. In this study, it was shown that nonlinearity affects the dynamic performance of a system and makes the natural frequency amplitude dependant. As the amplitude of vibration increases, consequently, stiffness increases and the natural frequency shifts away from the excitation frequency. For this investigation, a vibrating system with one degree of freedom has been built based on a mathematical model simulated and tested in Matlab software. Mag-spring was used to introduce the nonlinear stiffness to the system. Unbalance mass mounted to a disc fixed to a rotational machine has been used to create a forced vibration system with variable frequency. The response of the system with and without nonlinearity effect was monitored with an accelerometer. Simulation and experimental results showed that nonlinearity could shift the resonance frequency of the SDOF system by 10% (hardening of the system), without affecting the stiffness of the system at normal working condition. In the second scenario, a softening nonlinear spring was added as a vibration absorber to a system with a single degree of freedom, to make the system with two degree of freedom. The softening spring shows high stiffness at low amplitude and low stiffness at high amplitude. The rationale behind this is to introduce a spring which is hard at high frequency and soft at low frequency, which as a result will make the ratio √(k_a/m_a ) of the absorber follows the excitation frequency (ω) allowing the system to update itself and self-regulate providing vibration cancellation at more than one frequency value and widen the vibration cancellation range (ω_n2-ω_n1). It was shown that the Mag-spring could show a softening behaviour in a limited domain if its operating position is shifted. A program has been written to simulate the behaviour of all nonlinear system with two degree of freedom (nonlinear absorber). At this program, the maximum amplitude of each time domain was used to produce the frequency domain of the amplitude of the system. The amplitude of the vibration for a linear and a nonlinear absorber was compared. The results showed that the nonlinear absorber suppresses and reduces the vibration amplitude of the main system better than the linear absorbers with up to 60% reduction in magnification ratio and from 5% to 10% in widening the cancellation range (ω_n2-ω_n1). In the last scenario of this study, 4 different ideal softening stiffness curves were introduced based on theoretical methods. Their vibration response was calculated and compared to the nonlinear absorber (Mag-spring) and a linear absorber. This study shows that when nonlinearity is designed properly, it could provide a distinguished vibration cancellation response resulting more than 60% vibration cancellation improvement. This study demonstrated the possibility of developing a passive self-regulating tuned mass system involving the usage of nonlinearity. Nonlinearity will enhance the vibration cancellation by allowing the system to update itself and as a result will make the vibration absorption to be effective within a frequency range rather than single frequency unlike the classical tuned mass system. This study, to the best knowledge of the author, can be classified as an uncommon study in vibration systems investigations.

The aim of this thesis was to investigate the difference between containerboard materials strength and stiffness properties in tension and compression, how the mechanisms behind compressive and tensile properties are affected by the relative humidity of the ambient air and how the relative humidity affects the compressive response of the fibre network. These properties are used to predict the lifetime performance of corrugated boxes and to prevent early collapses of the boxes and thereby waste or harm of the transported goods inside. The work also discusses the methods used to evaluate the different properties and how reliable the results are. The experimental part includes testing of linerboard and fluting materials from both virgin and recycled fibres, which have been conditioned at 50% and 90% relative humidity. The compression tests were filmed to evaluate if different compression failure modes can be related to the strength and stiffness of the material. The results indicated that the compressive strength and stiffness differ from the strength and stiffness values in tension at 90% relative humidity. Compressive strength is lower in both 50% and 90% relative humidity compared with the tensile strength. However, the compression stiffness shows a higher value than the tensile stiffness at 90% relative humidity. The study of the method for evaluating the compressive behaviour of the paper does not present a complete picture on what type of failure the paper actually experience.

Background: Women are more likely to develop age-related cognitive impairment compared with men of the same age. Pregnancy complications, such as preeclampsia (PE), and menopause may contribute to an elevated risk of cognitive decline with aging in women potentially through an adverse impact on vascular function. PE is associated with a heightened risk of hypertension and large elastic artery stiffness (i.e., aortic and carotid arteries) for several years postpartum. Persistent large artery stiffness may be further amplified in women with a history of PE during the menopause transition, which is marked by an accelerated rate of vascular aging. However, large artery stiffness has not been studied extensively in postmenopausal women with a history of PE. Age-related elevations in large artery stiffness are associated with cognitive decline in middle-aged and older adults however, this relation has not been investigated in young women with a history of PE. Moreover, the degree to which elevated large artery stiffness is amplified and associated with reduced cognitive function among postmenopausal women with a history of PE remains unknown. The purpose of this study was to examine the extent to which large elastic artery stiffness is associated with reductions in cognitive function in premenopausal and postmenopausal women with a history of PE. Methods: Large elastic artery stiffness and domains of cognitive function were assessed in young women one year postpartum (n=18, ages 24-41 yrs.) and postmenopausal women (n=19, ages 52-77 yrs.) thirty-five years postpartum. Aortic stiffness was measured via non-invasive applanation tonometry at the carotid and femoral pulse sites and expressed as carotid-femoral pulse wave velocity (cfPWV). Carotid artery stiffness was quantified as beta-stiffness index (β-stiffness) was measured via ultrasonography and carotid tonometry. Cognitive tests were administered to assess cognitive function in immediate and delayed recall, working memory, processing speed, and executive function. Results: Premenopausal women with a history of PE had higher systolic blood pressure (121 ± 4 vs. 101 ± 3 mmHg, p =0.01) one year postpartum but did not differ significantly from controls in cfPWV (6.2 ± 0.4 vs. 5.1 ± 0.2 m/s, p =0.08), β-stiffness (6.1 ± 0.5 vs. 6.1 ± 0.7 U, p =0.97), or cognitive domains of memory, executive function, or processing speed (all p>0.05). Higher systolic blood pressure was associated with lower executive function (r = -0.53, p = 0.05) in young women one year postpartum. Postmenopausal women with a history of PE did not differ from controls in blood pressure, large artery stiffness, or age-adjusted cognitive domains of memory, executive function, or processing speed (all p>0.05). Large artery stiffness was not associated with cognitive function in premenopausal or postmenopausal women. Conclusions: Young women with a history of PE had elevated systolic pressure one year postpartum, which was associated with reductions in executive function. Large artery stiffness was not elevated or related to cognitive function in postmenopausal women with a history of PE. These preliminary findings suggest that young women with a history of PE are susceptible to reductions in selective cognitive domains related to higher blood pressure, but this effect does not appear to extend into the postmenopausal period.

Die exakte Kenntnis vom Materialverhalten und speziell von lokalen Flächenmasseschwankungen der textilen Flächen ist Voraussetzung für eine Verbesserung der Produktentwicklung und für eine hohe Qualitätsverarbeitung in der Konfektionsindustrie. Dieser Fakt ist ebenfalls für die zunehmende Anwendung im Bereich der Simulationsberechnungen von erheblicher Bedeutung. Der Wandel von 2D-CAD- zu 3D-CAD-Systemen führt in der Bekleidungsindustrie zur zwingenden Berücksichtigung der Materialeigenschaften. Aufgrund des Montageprozesses zeigen die konfektionierten textilen Flächen im Vergleich zu unkonfektionierten textilen Flächen ein anderes Erscheinungsbild. Mehrlagige Gewebe (infolge einer Naht, einer Einlage oder eines Futterstoffes) beeinflussen das Biegeverhalten und das Fallverhalten der textilen Flächen erheblich. Zur Bestimmung der Biegesteifigkeit ist seit Jahrzehnten das manuell zu bedienende Prüfgerät nach dem Cantilever-Verfahren das Bekannteste. Die eigenen Untersuchungen bestätigen, dass das Prüfgerät viele Mängel hat, welche die Genauigkeit und die Reproduzierbarkeit der Messergebnisse wesentlich beeinflussen. Im Rahmen dieser Arbeit wird ein neues Biegesteifigkeitsprüfgerät (ACPM 200) entwickelt, um eine optimale Genauigkeit und hohe Reproduzierbarkeit der Messergebnisse zu erfassen. Eine neue Methode zur Ermittlung des Einflusses der Naht auf die Biegesteifigkeit einer größeren textilen Fläche ist in der Arbeit vorhanden, um die exakte Beschreibung des realen Verhaltens von textilen Bekleidungsprodukten zu ermitteln. Die Simulation des Biegeverhaltens textiler Flächen ohne und mit vertikaler Naht wird mit Hilfe der FEM durchgeführt. Abschließend wird eine neue Prüfnorm vorgestellt, welche die Biegesteifigkeit von textilen Flächen mit lokalen Flächenmasseschwankungen mittels des neuen Biegesteifigkeitsprüfgerätes ACPM 200 beinhaltet. / Bending stiffness and Drapeability are essential material parameters for simulating textile and clothing products. Due to assembling processes garments are showing different appearances through modelling than textile fabrics. This is based on stiffening, which is caused by assembling process and local variations within material’s mass throughout the fabric. Since decades the manual bending stiffness testing device, which is based on Cantilever method, has been known. This device is insufficient because of irregular feed speed of bending sample, the visual determination of reaching and reading the bending length, the little reading precision of the measurable slide (half Millimetre) and the form of the front edge of the sample does not stay linear. Obtaining an exact evaluation of this sample edge is not possible with this device. Extensive experiments have confirmed that these deficits influence the accuracy and the reproduction of the results in a high degree. To remedy these deficits and to obtain an exact description of the material’s behaviour in order to achieve an optimal modelling of the clothing products is the new bending stiffness testing device (ACPM 200) at the ITB of TU Dresden developed. Within the investigations a new method for determining the influence of the seam on the bending stiffness of the adjacent textile fabric will be introduced. The Influence of seams on the drapability of textile fabric is investigated. A static model of Fabric with and without vertical seams is analysed with using the finite element method (FEM).