Before the beginning of digital-computers era, a lot of research was carried out in order to find electric circuits the governing equations of which were analogous to the ones of mechanical systems. The mentioned circuits were called ectro-mechanical analogs. They were used as analogical computers for the simulation and the design of mechanical systems. The actual technological development of piezoelectric actuators, which are devices able to efficiently transduce energy between the electrical and mechanical form, induced us to consider again those electro-mechanical analogs in order to create coupled piezo-electro-mechanical systems. Our idea is that the coupling between electro-mechanical phenomena is maximum when the propagation of both electrical and mechanical waves are governed by similar equations. Let us remark that because of the propagating mechanical wave-speed is much lower than the light-speed for every material, it is not possible to search for an efficient electro-mechanical coupling inside a piezoelectric continuum. Consequently circuits able to support the propagation of electric-potential waves have been considered. In this work, the equations for the elastica and for the plate are considered and their circuital analogs are derived using their finite-difference approximation. Afterwards, the coupling between the two structures is modelled considering piezoelectric actuators uniformly distributed on the mechanical system and connected to the nodes of the electric circuit. Then the electro-mechanical coupled equations are derived, and an analytical solution is found for a particular case. Finally some numerical simulations showing the efficiently energy exchange is presented. / Master of Science

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Ionic electroactive polymer (IEAP) actuators are a class of electroactive polymer devices that exhibit electromechanical coupling through ion transport in the device. They consist of an ionomeric membrane coated with conductive network composites (CNCs) and conductive electrodes on both sides. A series of experiments on IEAP actuators with various types of CNCs has demonstrated the existence of a direct correlation between the performance of actuators and physical and structural properties of the CNCs. Nanostructure of CNC is especially important in hosting electrolyte and boosting ion mobility. This dissertation presents a series of systematic experiments and studies on IEAP actuators with two primary focuses: 1) CNC nanostructure, and 2) ionic interactions. A novel approach for fabrication of CNC thin-films enabled us to control physical and structural properties of the CNC thin-films. We, for the first time, facilitated use of layer-by-layer ionic self-assembly technique in fabrication of porous and conductive CNCs based on polymer and metal nanoparticles. Results were porous-conductive CNCs. We have studied the performance dependence of IEAP actuators on nano-composition and structure of CNCs by systematically varying the thickness, nanoparticle size and nanoparticle concentration of CNCs. We have also studied influence of the waveform frequency, free-ions and counterions of the ionomeric membrane on the performance and behavior of IEAP actuators. Using the LbL technique, we systematically changed the thickness of CNC layers consisting of gold nanoparticles (AuNPs) and poly(allylamine hydrochloride). It was observed that actuators consisting of thicker CNCs exhibit larger actuation curvature, which is evidently due to uptake of larger volume of electrolyte. Actuation response-time exhibited a direct correlation to the sheet-resistance of CNC, which was controlled by varying the AuNP concentration. It was observed that size and type of free-ions and counterion of ionomeric membrane are also influential on the actuation behavior or IEAP actuators and that the counterion of ionomeric membrane participates in the actuation process. / Ph. D.

Actuator placement is a major concern in control system designs. Utilizing piezoelectric actuators increases the complexity of actuator designs, because both actuator location and dimensions need to be considered. A comprehensive study was conducted in this dissertation on the optimization of piezoelectric actuator designs for vibration suppression of flexible structures. The investigation on the optimal piezoelectric actuator designs were grouped into two parts. Part one covered actuator designs when the same number of actuators as the controlled modes are used. Approaches were formed to optimally design piezoelectric actuators which requires least control efforts. In part two of this dissertation, a method named the Weighted Pseudoinverse Method was introduced to deal with the cases in which fewer actuators than the controlled modes are utilized. The weighted pseudoinverse method yields a optimal transformation from modal control forces into the actuator-moments in physical space. Based on the Weighted pseudoinverse method, the piezoelectric actuator designs were optimized to ensure least-control-effort actuator designs. A simply-supported beam was used as an example to demonstrate the effectiveness of the design methods proposed in this dissertation. However, the design methods are applicable to general cases. / Ph. D.

Surgical procedures conducted without proper guidance and dynamic feedback mechanism could lead to unintended consequences. In-vivo diagnostics and imaging (the Gastro-Intestinal tract) has shown to be inconvenient for the patients using traditional endoscopic instruments and often these conventional methods are limited in terms of their access to various organs (e.g. small intestines). Embedding sensors inside the living body is complex and further the communication with the implanted sensors is challenging using the current RF technology. Additionally, continuous replacement and/or batteries recharging for wireless sensors networks both in-vivo and ex-vivo adds towards the complexity. Advances in diagnostics and prognostics techniques require development at multiple levels through systems approach, guided by the futuristic intelligent decision making environment that reduces the human interference. The demands are not only at the component level, but also at the connectivity of the components such that secure, sustainable, self-reliant, and intelligent environment can be realized. This thesis provides important breakthroughs required to achieve the vision of intelligent healthcare environment. The research contributions of this thesis provide foundation for developing a new architecture for continuous medical diagnostic and monitoring. The chapters in this thesis cover four fundamental technologies covering the in-vivo imaging, ex-vivo imaging, energy for sensors, and acoustic communication. These technologies are: locomotion mechanism for wireless capsule endoscope (WCE), multifunctional image guided surgical (MIGS) platform, shape memory alloy (SMA) thermal energy harvester and thermo-acoustic sonar using carbon nanotube (CNT) sheets. First, two types of locomotion mechanisms were developed, the first one inspired by millipede legged type mechanism and the second one based on the traveling waves that were induced onto the walls of the WCEs through vibration. Both mechanisms utilize piezoelectric actuators and couple their dynamics and actuation capability in order to achieve propulsion. This controlled locomotion will provide WCE advantage in terms of conducting localized diagnostics. Next, in order to conduct ex-vivo surgical procedures using the OCT such as removing the unwanted tissue and tumors short distance beneath the skin, MIGS platform was developed. The MIGS platform is composed of three key elements: optical coherence tomography (OCT) probe, laser scalpel and high precision miniature scanning and positioning stage. The focus in this dissertation was on design and development of the programmable scanning and positioning stage. The combination of in-vivo tool such as WCE and ex-vivo tool such as MIGS will provide opportunity to conduct many non-invasive procedures which will save time and cost. In order to power the feedback sensors that assist in remote operation of surgical procedures and automation of the diagnostic algorithms, an energy harvester technology based on the SMA thermal engine was designed, fabricated, and characterized. A mechano-thermal model for the overall SMA engine was developed and experimentally validated. Finally, the thermo-acoustic sound generation mechanism using CNT sheets was investigated with the goal of developing techniques for acoustic localization of WCE and customized sound generation devices. CNT thermo-acoustic projectors were modeled and experimentally characterized to quantify the dynamics of the system under varying drive conditions. The overall vision of this thesis is to lay down the foundation for intelligent healthcare environment that provides the ability to conduct automated diagnostics, prognostics, and non-invasive surgical procedures. In accomplishing this vision, the thesis has addressed several key fundamental aspects of various technologies that will be required for implementing the automation algorithms. / Ph. D.

A mathematically one-dimensional model was developed to predict the static response of composite sandwich beams subjected to loads induced by piezoelectric (PZT) actuators. The model was derived using Reddy's (1984) displacement field for a laminated plate which consists of cubic variation of the in-plane displacement through the thickness. In this model, beam deformations include extension, bending, transverse shear, St. Venant torsion, and torsion due to warping of the cross section out of its plane. The PZT actuators can be configurated to induce a bimoment, resulting in twist cf the beam through the warping of the cross section. Hence directionally attached PZT (DAP) actuator elements, which cause twist by inducing tensile and compressive strains at 45° to the longitudinal axis of the beams, are not necessary to actuate twist. For an aluminum beam example, it is shown that the PZT bimomet control produced about 2.7 times more twist than the conventional DAP control. / Master of Science

This thesis explores the possibility of using mechanical control in the design of a complex end effector. A design methodology is developed and demonstrated. The main goal of this methodology is to maximize reversible steps to direct the design. By attempting to obtain as much mechanical control as possible, several mechanisms are developed which could be used in applications where control of multiple operations by one motor is desired. Along with the demonstration of the design methodology with an end effector design, the application of this methodology to cigarette packaging machines is discussed. / Master of Science

Intelligent materials are a class of material systems usually consisting of a composite or hybrid material system with fibrous or distributed actuators, various sensors and a control system. One type of actuator being developed for intelligent material systems is made of nitinol or shape memory alloy wire. In order for nitinol and other actuators to be a reliable part of the system, the effect of composite manufacturing on the actuators’ performance and behavior must be determined. The results of a study investigating the effects of a "high temperature" thermoplastic composite processing cycle on the nitinol actuator’s performance is presented. A study of the interfacial strength between the actuators and APC-2 thermoplastic composite is also reported. The nitinol actuators were exposed to high temperature (400°C) composite processing cycles. Critical parameters of the processing cycles were varied to determine their effect on the actuators’ performance. After the processing cycles, the nitinol actuators demonstrated useable recovery stresses (σ_r^u) of 173-265 MPa. The σ_r^u of a nitinol actuator in the virgin state, subjected to a thermoset processing cycle, and embedded in a specimen of APC-2 thermoplastic composite was also tested to develop a basis for comparison. The quality of the actuator-composite interface bond was tested by pull-out testing and fatigue loading to determine if the actuator is adequately bonded with the host composite. Pull-out forces of 30-50 N could fracture the actuator-composite interface, but 1000 activation cycles of the actuator produced no damage in the bond between actuator and host composite. / Master of Science