Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact which requires significant amount of energy, installing elastic mechanisms on the robots structure is proposed in this research, enabling the robot to reduce the impact, and to store part of the energy in the elastic form which returns the energy to the robot. Practically, this motivates the development of the bipedal walking robots with adjustable stiffness elasticity which itself creates new challenging problems. This thesis addresses some of the challenges through five consecutive stages. Firstly, an adjustable compliant series elastic actuator (named ACSEA in this thesis) is developed. The velocity control mode of the electric motor is used to accurately control the output force of the ACSEA. Secondly, three different conceptual designs of the adjustable stiffness artificial tendons (ASAT) are proposed each of which is added at the ankle joint of a bipedal walking robot model. Simulation results of the collision phase (part of the gait between the heel-strike and the foot-touch-down in bipedal walking) demonstrate significant improvements in the energetics of the bipedal walking robot by proper stiffness adjustment of ASAT. In the third stage, in order to study the effects of ASATs on reducing the energy loss during the stance phase, a simplified model of bipedal walking is introduced consisting of a foot, a leg and an ASAT which is installed parallel to the ankle joint. A linear spring, with adjustable stiffness, is included in the model to simulate the generated force by the trailing leg during the double support phase. The concept of impulsive constraints is used to establish the mathematical model of impacts in the collision phase which includes the heel-strike and the foot-touch-down. For the fourth stage, an energy-feedback-based controller is designed to automatically adjust the stiffness of the ASAT which reduces the energy loss during the foot-touch-down. In the final stage, a speed tracking (ST) controller is developed to regulate the velocity of the biped at the midstance. The ST controller is an event-based time-independent controller, based on geometric progression with exponential decay in the kinetic energy error, which adjusts the stiffness of the trailing-leg spring to control the injected energy to the biped in tracking a desired speed at the midstance. Another controller is also integrated with the ST controller to tune the stiffness of the ASAT when reduction in the speed is desired. Then, the local stability of the system (biped and the combination of the above three controllers) is analyzed by calculating the eigenvalues of the linear approximation of the return map. Simulation results show that the combination of the three controllers is successful in tracking a desired speed of the bipedal walking even in the presence of the uncertainties in the leg’s initial angles. The outcomes of this research show the significant effects of adjustable stiffness artificial tendons on reducing the energy loss during bipedal walking. It also demonstrates the advantages of adding elastic elements in the bipedal walking model which benefits the efficiency and simplicity in regulating the speed. This research paves the way toward developing the dynamic walking robots with adjustable stiffness ability which minimize the shortcomings of the two major types of bipedal walking robots, i.e., passive dynamic walking robots (which are energy efficient but need extensive parameters tuning for gait stability) and actively controlled walking robots (which are significantly energy inefficient). / May 2008

Gas foil bearings (GFB) appear to satisfy most requirements for oil-free turbomachinery, i.e. relatively simple in construction, ensuring low drag friction and reliable high speed operation. However, GFBs have a limited load capacity and minimal amounts of damping. A test rig for the rotordynamic evaluation of gas foil bearings was constructed. A DC router motor, 25 krpm max speed, drives a 1.02 kg hollow rotor supported on two bump-type foil gas bearings (L = D = 38.10 mm). Measurements of the test rotor dynamic response were conducted for increasing mass imbalance conditions. Typical waterfalls of rotor coast down response from 25 krpm to rest evidence the onset and disappearance of severe subsynchronous motions with whirl frequencies at ~ 50% of rotor speed, roughly coinciding with the (rigid mode) natural frequencies of the rotor-bearing system. The amplitudes of motion, synchronous and subsynchronous, increase (non) linearly with respect to the imbalance displacements. The rotor motions are rather large; yet, the foil bearings, by virtue of their inherent flexibility, prevented the catastrophic failure of the test rotor. Tests at the top shaft speed, 25 krpm, did not excite subsynchronous motions. In the experiments, the subsynchronous motion speed range is well confined to shaft speeds ranging from 22 krpm to 12 krpm. The experimental results show the severity of subsynchronous motions is related to the amount of imbalance in the rotor. Surprisingly enough, external air pressurization on one side of the foil bearings acted to reduce the amplitudes of motion while the rotor crossed its critical speeds. An air-film hovering effect may have enhanced the sliding of the bumps thus increasing the bearings’ damping action. The tests also demonstrate that increasing the gas feed pressure ameliorates the amplitudes of subsynchronous motions due to the axial flow retarding the circumferential flow velocity development. A finite element rotordynamic analysis models the test rotor and uses predicted bearing force coefficients from the static equilibrium GFB load analysis. The rotordynamic analysis predicts critical speeds at ~8 krpm and ~9 krpm, which correlate well with test critical speeds. Predictions of rotordynamic stability are calculated for the test speed range (0 to 25 krpm), showing unstable operation for the rotor/bearing system starting at 12 krpm and higher. Predictions and experimental results show good agreement in terms of critical speed correlation, and moderate displacement amplitude discrepancies for some imbalance conditions. Post-test inspection of the rotor evidenced sustained wear at the locations in contact with the bearings' axial edges. However, the foil bearings are almost in pristine condition; except for top foil coating wear at the bearing edges and along the direction of applied static load.

This thesis concerns stressed spline structures. A spline is defined as `an initially straight member with identical second moment of area about any axis perpendicular to its centroidal axis, bent into a spatial curve'. An analytical proof is presented to show that the spline's torsional stiffness is of no importance in its analysis (provided construction details do not introduce any torsional moment). This paramount proof allows the formulation of a spline analysis that relies solely on three translational degrees of freedom (3DOF) per node. Applying this 3DOF analysis to unstrained curves and battened or hoop supported membranes is approximate since the bending stiffness would correspond to one direction only. A series of four test cases validates the proposed 3DOF analysis. The analysis is first applied to a laterally loaded spline ring, where solution convergence and the effect of unequal length segment modelling are investigated. Most significantly, this test case demonstrates that the spline ring has a greater out-of-plane stiffness than a pre-bent ring. This feature lies at the basis of spline stressed membranes - the spline has superior out-of-plane stiffness under the action of forces applied by the membrane. The second and third test cases -- buckling of elastica and of a shallow sinusoidal arch -- clearly demonstrate that the 3DOF analysis is much faster, more accurate, and produces results closer to the analytical values compared with a 6DOF analysis. The fourth test case proves the efficiency of the 3DOF analysis through investigating buckling behaviour and loads of four circular arches under radial loading. As the torsional stiffness does not enter the 3DOF analysis, the stiffness of a spline constructed of spliced segments is identical to that of a continuous spline. In order to demonstrate their feasibility, five medium span (161n-32m) Glass Fibre Reinforced Plastic (GFRP) and one large span (57nt) steel tensegrity stressed spline membranes are designed, form-found and analysed under realistic loading conditions. These design studies show firstly that the spline and membrane stresses occurring under loading are within acceptable material limits and secondly that buckling occurs at values much higher than those encountered in reality. This thesis has demonstrated that engineered stressed spline structures, for which the development of a 3DOF was essential, have great design potential.

Age is the major risk factor for cardiovascular diseases (CVD) and this is attributable in part to stiffening of large elastic arteries and development of vascular endothelial dysfunction. In contrast, regular aerobic exercise is associated with reduced risk of CVD. Swimming is an attractive form of aerobic exercise and always recommended for health promotion as well as prevention and treatment of risk factors for CVD. However, there is little scientific evidence to date indicating that swimming is equally efficacious to land-based exercise modes in reducing cardiovascular risks. Accordingly, the aim of the research was to determine the role of regular swimming exercise on both CVD traditional risk factors and vascular functions. To comprehensively address this aim, 2 different approaches were used: Study 1 (cross-sectional study) was designed to determine the potential benefit of regular swimming exercise in the primary prevention of age-related decreases in vascular function. Key measurements of vascular function were performed in middle-aged and older swimmers, runners, and sedentary controls. Central arterial compliance was higher in swimmers and runners than in sedentary controls. Study 2 (intervention study) was designed to determine whether regular swimming exercise could reverse the age-associated decline in vascular function. Middle-aged and older subjects completed either a 12-week swim training program or relaxation/ stretching exercise (attention control) program. Short-term swim training improved arterial blood pressure and vascular functions. In summary, regular swimming exercise can attenuate reductions in and partially restore the loss of vascular function including central arterial compliance and endothelial function in middle-aged and older adults. Swimming exercise exhibited typical central arterial compliance and endothelial function phenotypes that are often displayed in land-based exercise. / text

Excessive muscle tone or stiffness secondary to stroke frequently involves the ankle plantarflexors and has been associated with decreased mobility and reduced function. Although becoming more common in clinical practice, the effectiveness of botulinum toxin A (BTX-A) injected in the ankle plantarflexors on gait biomechanics is not well established. The primary objective of this study was to describe the kinematic and kinetic changes that occur during walking following BTX-A treatment of the hypertonic ankle plantarflexors. As well, the study explored whether there were clinical characteristics uniquely associated with subjects that exhibited biomechanical improvement. The study was a single group, open label trial with repeated measures, including multiple baseline and three post-intervention time points. Seven chronic hemiparetic stroke subjects with ankle hypertonicity were included in the study. Full lower limb bilateral gait analysis provided joint kinematic and kinetic information throughout stance. As well, clinical measures of ankle range of motion and spasticity were assessed pre and post treatment. Data were analyzed using paired samples t-tests and repeated measures ANOVA with Least Significant Difference adjustment for post-hoc analysis as necessary (significance level p≤0.05). Of the kinematic variables, significant improvements in peak dorsiflexion and plantarflexion and the ankle angle at initial contact were found 10 weeks post-injection relative to baseline. No significant kinetic changes were detected, however 2 subjects showed improved positive work at the ankle post-injection and 5 subjects demonstrated increased positive work at the hip post-treatment. Although subjects were classified as “responders” or “non-responders” based on clinical improvement observed 2 weeks post-injection, there was no observable association between those who responded clinically and those who demonstrated improved gait. The major findings suggest that BTX-A injection results in tone reduction and in some cases improves the biomechanical efficiency of gait. In cases where kinetic variables remained unchanged following treatment, perhaps the increased tone was not the limiting factor of reduced function. / Thesis (Master, Neuroscience Studies) -- Queen's University, 2007-08-30 09:41:03.24

Biochemical and mechanical properties of the extracellular matrix (ECM) are known to independently influence cell function. Given the complexity of cellular responses, I hypothesized that the integration of multiple matrix factors as opposed to their individual contribution is key to understanding and controlling cell function. The objective of this thesis was to systematically investigate matrix biochemical and mechanical regulation of multipotent stromal cell (MSC) osteogenesis. First, I demonstrated that substrate stiffness-dependent MSC spreading, proliferation and osteogenic response were differentially regulated by matrix protein type (collagen I vs. fibronectin) and concentration. Second, I developed and characterized a matrix microarray platform that enabled the efficient screening of multiple matrix-derived cues (substrate stiffness, ECM type and density). I implemented the matrix microarray platform together with parametric regression models to elucidate novel matrix interactions in directing mouse MSC osteogenic and adipogenic differentiation. Third, I extended the screening study to examine matrix-dependent human MSC osteogenesis. Non-parametric regression models were used to provide a nuanced description of the multi-factorial matrix regulation in MSC osteogenesis. The response surfaces revealed a biphasic relationship between osteogenesis and substrate stiffness, with the exact location and magnitude of the optimum contingent on matrix composition. Guided by the screening results and perturbation to key cytoskeletal regulators, I identified a novel pathway involving Cdc42 in matrix mechanical and biochemical regulation of MSC osteogenesis. Surprisingly, Cdc42 mediated stiffness-dependent MSC osteogenesis independent of ROCK, suggestive of a contractility-independent mechanism in matrix rigidity signal transduction. In summary, the integration of cell-based arrays and statistical modeling has enabled the systematic investigation of complex cell-matrix interactions. This generalizable approach is readily adaptable to other cellular contexts, complementing hypothesis-driven strategies to facilitate non-intuitive mechanistic discovery. Moreover, the improved understanding of matrix-dependent MSC function also has practical relevance to the development of biomaterials for tissue engineering applications.

Vibrissae (whiskers) are important components of the mammalian tactile sensory system, and primarily function as detectors of environmental vibrotactile cues. Pinnipeds possess the largest and most highly innervated vibrissae among mammals and their vibrissae demonstrate a diversity of shapes and likely mechanical properties. These two characteristics are important for vibrotactile sensory perception. Vibrissae of most phocid seals exhibit a beaded morphology with repeated sequences of crests and troughs along their length. I comparatively characterized differences in vibrissae morphologies among phocid species with a beaded profile, phocid species with a smooth profile, and otariids with a smooth profile using traditional and geometric morphometric methods to test the hypothesis that vibrissal morphologies are species-specific manipulations of a common pattern. The traditional and geometric morphometric datasets were subsequently combined by mathematically scaling each to true rank, followed by a single eigendecomposition. Quadratic discriminant function analysis demonstrated that 79.3, 97.8 and 100% of individuals could be correctly classified to taxon based on vibrissal shape variables in the traditional, geometric and combined morphometric analyses, respectively. At least three separate morphologies were identified since phocids with beaded vibrissae, phocids with smooth vibrissae, and otariids each occupied distinct morphospace in the geometric morphometric and combined data analyses. Another important characteristic that influences the transduction of vibrotactile information to the mechanoreceptors in the follicle-sinus complex is the materials properties of the vibrissae. Vibrissae were modeled as cantilever beams and flexural stiffness (EI) was measured to test the hypotheses that the shape of beaded vibrissae reduces flexural stiffness and that vibrissae are anisotropic (orientations differ in EI). Species were significantly different and smooth vibrissae were generally stiffer than beaded vibrissae. Beaded vibrissae decrease vibrations in flow, which, combined with lower flexural stiffness values, may enhance detection of small changes in flow from swimming prey. The anterior plane of the vibrissae is likely the most biologically significant in tracking hydrodynamic trails but had lower flexural stiffness values than the dorsoventral orientation. There is likely a complex interaction between shape and mechanical properties in pinniped vibrissae but the ecological and functional implications are currently unknown.

Slope instabilities have been affecting the grade slope of Provincial Trunk Highway 5 near the junction with Provincial Trunk Highway 10 in northwestern Manitoba for over 50 years. In recent years, the instabilities have resulted in significant damage to the highway pavement surface. In 2011, Manitoba Infrastructure and Transportation initiated a geotechnical investigation to gain a better understanding of the failure, identify possible failure mechanisms, and explore various remedial design alternatives in order to stabilize the slope. The site was instrumented with slope inclinometers and vibrating wire piezometers, and monitored over a period of two years. An extensive laboratory testing program was completed to compare the results of direct shear tests and torsional ring shear tests for determining the shear strength of the underlying Cretaceous clay shale. Measured values were compared with values back analyzed using limit equilibrium analysis. A coupled finite element model was used to model the expected excess porewater pressure response, and therefore the stability of the slope, during construction of a stabilization berm. It was subsequently calibrated to agree with the measured porewater pressure responses from the instrumentation. Finally, spring flood conditions were simulated to determine the effect of multiple flash flood events on the stability of the slope.

Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact which requires significant amount of energy, installing elastic mechanisms on the robots structure is proposed in this research, enabling the robot to reduce the impact, and to store part of the energy in the elastic form which returns the energy to the robot. Practically, this motivates the development of the bipedal walking robots with adjustable stiffness elasticity which itself creates new challenging problems. This thesis addresses some of the challenges through five consecutive stages. Firstly, an adjustable compliant series elastic actuator (named ACSEA in this thesis) is developed. The velocity control mode of the electric motor is used to accurately control the output force of the ACSEA. Secondly, three different conceptual designs of the adjustable stiffness artificial tendons (ASAT) are proposed each of which is added at the ankle joint of a bipedal walking robot model. Simulation results of the collision phase (part of the gait between the heel-strike and the foot-touch-down in bipedal walking) demonstrate significant improvements in the energetics of the bipedal walking robot by proper stiffness adjustment of ASAT. In the third stage, in order to study the effects of ASATs on reducing the energy loss during the stance phase, a simplified model of bipedal walking is introduced consisting of a foot, a leg and an ASAT which is installed parallel to the ankle joint. A linear spring, with adjustable stiffness, is included in the model to simulate the generated force by the trailing leg during the double support phase. The concept of impulsive constraints is used to establish the mathematical model of impacts in the collision phase which includes the heel-strike and the foot-touch-down. For the fourth stage, an energy-feedback-based controller is designed to automatically adjust the stiffness of the ASAT which reduces the energy loss during the foot-touch-down. In the final stage, a speed tracking (ST) controller is developed to regulate the velocity of the biped at the midstance. The ST controller is an event-based time-independent controller, based on geometric progression with exponential decay in the kinetic energy error, which adjusts the stiffness of the trailing-leg spring to control the injected energy to the biped in tracking a desired speed at the midstance. Another controller is also integrated with the ST controller to tune the stiffness of the ASAT when reduction in the speed is desired. Then, the local stability of the system (biped and the combination of the above three controllers) is analyzed by calculating the eigenvalues of the linear approximation of the return map. Simulation results show that the combination of the three controllers is successful in tracking a desired speed of the bipedal walking even in the presence of the uncertainties in the leg’s initial angles. The outcomes of this research show the significant effects of adjustable stiffness artificial tendons on reducing the energy loss during bipedal walking. It also demonstrates the advantages of adding elastic elements in the bipedal walking model which benefits the efficiency and simplicity in regulating the speed. This research paves the way toward developing the dynamic walking robots with adjustable stiffness ability which minimize the shortcomings of the two major types of bipedal walking robots, i.e., passive dynamic walking robots (which are energy efficient but need extensive parameters tuning for gait stability) and actively controlled walking robots (which are significantly energy inefficient).

Roads in many northern climates like Saskatchewan can undergo structural failure caused by frost action and substructure moisture problems. Frost action can be efficiently controlled by eliminating at least one of the following conditions: moisture; freezing temperatures; and frost susceptible soils. However, effective use of shredded tire material could provide an environmentally sustainable solution for waste tires and could relieve pressure on limited quality aggregate resources. The City of Saskatoon has successfully incorporated crushed rock and crushed recycled concrete as a subsurface road drainage layer to mitigate substructure drainage and frost issues. However, the price of crushed high value aggregates can be cost prohibitive and at times these materials are not available in quantities required. Previous research has documented that shredded tires are efficient in controlling frost action by providing thermal insulation and free drainage, but shredded tires performed poorly as a structural support layer with low mechanical stiffness and high compressibility properties. The goal of this research was to provide improved pavement performance with respect to road substructure moisture drainage and frost mitigation. The specific objectives of this research were to: • Quantify the mechanical properties of shredded tires and investigate the mechanical behavior of mixes of shredded tires with and without sand blended into the tire matrix as compared to conventional subbase and base coarse materials; • Determine the permeability of shredded tires and investigate the effect of sand on the permeability of shredded tire/sand mixes as compared to conventional granular base and subbase materials, and; • Compare the structural primary response behavior and capital cost of alternate road structures constructed with shredded tires and mixes of shredded tire and sand as a free draining subbase material compared to conventional drainage layers and road structures. The hypothesis of this research was that the mechanical behavior of shredded tire material, used as a road substructure layer, can be improved by blending it with free draining sand. It was also hypothesized that blending shredded tire with free draining sand will have improved drainage compared to conventional granular subbase and base course materials. Volumetric and mechanistic material properties and structural performance behavior of shredded tires and shredded tire/sand mixes in the mix ratios (by volume) of 1Tire:1Sand, 1Tire:2Sand and 1Tire:3Sand were evaluated and compared to City of Saskatoon subbase materials: crushed rock and granular base; as well as Saskatchewan Ministry of Highways and Infrastructure (SMHI) Type 6 subbase. Laboratory characterization showed that 100% shredded tire materials were uniformly graded indicating high amounts of voids. The addition of sand resulted in a reduction of interparticle air voids. Results from strength and stiffness characterization tests indicated that 100% shredded tires exhibited low structural stiffness, but this behavior was improved as the quantity of sand in the shredded tire was increased. The 100% shredded tire material was determined to have a dynamic modulus value of 5MPa, whereas shredded tires/sand blends at the ratios of 1Tire:1Sand, 1Tire:2Sand and 1Tire:3Sand gave dynamic moduli values of 30MPa, 110 MPa and 158MPa, respectively. For comparison, SMHI Type 6 subbase, City of Saskatoon crushed rock and granular base exhibited dynamic moduli values of 94MPa, 174MPa and 471MPa, respectively. Permeability characterization indicated that the 100% shredded tire materials were free draining at 1.42cm/s. Permeability decreased from 1.42cm/s with 100% shredded tire to 0.0026cm/s with 1Tire:3Sand. However, the shredded tire/sand mixes maintained permeability values higher than sand (0.0013cm/s). SMHI Type 6 subbase and granular materials were found to have a permeability of 0.0018cm/s and 0.000025cm/s, respectively, while crushed rock was free draining with a permeability of 1.12cm/s. Structural behavior of 100% shredded tire, shredded tire/sand mixes and City of Saskatoon subbase materials were studied in road models using a 3-D numerical road modeling software that encoded triaxial material constitutive relationships determined in this research. A typical City of Saskatoon road structure was assumed for all road structures considered in this study with varying subbase material so as to directly compare the structural effect of the shredded tire with conventional road materials under primary load limits. Modeled results of the 100% shredded tire and crushed rock roads showed peak surface deflections of 2.19mm and 0.73mm, respectively. Peak surface deflection under primary load limits was found to decrease with an increase in sand quantity within the shredded tire layer. Based on the modeling results, 1Tire:2Sand and 1Tire:3Sand yielded peak surface deflections of 1.01mm and 0.96mm, respectively. For comparative purposes, road structures with SMHI Type 6 subbase deflected at 1.14mm. Field test sections were constructed at Adolph Way in Saskatoon to compare the structural performance of shredded tire to crushed rock (currently specified by City of Saskatoon for drainage layers) in a typical residential road in Saskatoon. Unfortunately, both crushed rock (control) and shredded tire sections were found to deflect above acceptable limits due to high moisture conditions within the deep subgrade. Therefore, deeper excavation was required and the test sections were not constructed. The Adolph Way field experimentation of shredded tire showed that shredded tire road systems can be effectively constructed in the field, but showed the same sensitivity to poor subgrade conditions as crushed rock. Capital cost analysis showed the 100% shredded tire and shredded tire/sand subbase layers to be less expensive than City of Saskatoon specified crushed rock drainage layers. The 100% shredded tire layer was estimated at a total cost of $2.93/m2 while 1Tire:1Sand, 1Tire:2Sand and 1Tire:3Sand were estimated at $4.39/m2, $4.88/m2 and $5.12/m2, respectively. SMHI Type 6 subbase, crushed rock and granular base layers were estimated at a total cost of $5.85/m2, $13.95/m2 and $9.00/m2, respectively for equivalent thickness. From the structural, permeability and economic perspective of this research, the 1Tire:2Sand and 1Tire:3Sand materials proved to be cost efficient as well as technically viable options for mitigating frost action as compared with City of Saskatoon crushed rock materials evaluated. The use of shredded tire/sand mixes of 1Tire:2Sand and 1Tire:3Sand in urban local road structures with low traffic volumes are therefore recommended as a cost effective subbase drainage layer material.