This study focuses on the design and analysis of a specialised mechanical gripper for an assembly process of batteries, with particular emphasis on the study of the associated forces and deformations. The project commences with comprehensive market research to identify existing solutions. This is followed by the definition of requirements and an iterative design process utilising computer-aided design (CAD). Subsequently, a comprehensive force and deformation analysis is conducted using the finite element method (FEM) in Abaqus CAE. The results demonstrate that the designed gripper can withstand the applied loads with minimal deformation, indicating that it possesses adequate structural stiffness. The utility of finite element method (FEM) analysis in evaluating the viability of the proposed design is demonstrated. According to the design and analysis in this study, it manages to propose and developed a new kind of gripper with a higher grip range than those available on the market. These findings contribute to a deeper understanding of the suitability of the gripper design in relation to the expected loads and highlight the importance of the design methodology employed.

Polymeric composites reinforced with bio-materials have advantages over composites with synthetic reinforcements. Bio-based composites use low-cost and renewable reinforcements, have nonabrasive properties for machining, have improved damping characteristics, and have potential for energy recycling. However, the limited use of bio-based composites is because their mechanical properties are typically much lower than those of synthetic composites. The objective of this study was to combine state-of-the-art imaging tools with emerging numerical modeling methods for an integrated, multi-level characterization of bio-based reinforcements and their composites. Digital photography (2D) will allow collection of full-field digital images of the surface of sample composites, which will be used for characterization of the morphological structure of fillers (copper wire or wood particle) and of model composites. Mechanical experiments (tension load) on isolated fillers and on model composites will allow imaging of the deformed material. By correlating relative positions of thousands of surface features between consecutive images, digital image correlation (DIC) algorithms can be used to map surface deformation fields and calculate surface strain fields. Digital imaging methods can only record deformations and strains. The interpretation of those strains in terms of material properties, such as position-dependent modulus of a heterogeneous composite material, requires simultaneous modeling. The modeling must use morphology-based methods that can handle anisotropy, heterogeneity, and the complex structure of bio-based composites such as wood plastic composites. This research used the material point method (MPM) as a modeling tool. MPM is a particle-based, meshless method for solving problems in computational mechanics. The crucial advantage of MPM over other methods is the relative ease of translating pixels from digital images into material points in the analysis. Thus digital images (2D) used in our experiments were used as direct input to the MPM software, so that the actual morphologies, rather than idealized geometries, were modeled. This procedure removes typical uncertainties connected with idealization of the internal features of modeled materials. It also removes variability of specimen to specimen due to morphology variations. Full-field imaging techniques and computer modeling methods for analysis of complex materials have developed independently. This research Coupled imaging and modeling and used inverse problem methodology for studying bio-particulate composites. The potential of coupling experiments with morphology-based modeling is a relatively new area. This work studied the morphology and mechanical properties of copper wire (for validation experiments) and wood particles used for reinforcement in polymer composites. The goal was to determine the in situ mechanical and interfacial properties of copper wire and then wood particles. By comparison of DIC results to MPM, the conclusion is MPM simulation works well by simulating 3D composite structure and using Matlab software to do qualitative and quantitative comparisons. Copper validation tests showed that copper wire is too stiff compared to polymer such that the inclusion modulus had low effect on the surface strains (DIC experimental results). Wood particle worked better because modulus of wood is much lower than copper. By qualitative comparison of the wood particle specimens, we could deduce that the in situ properties of wood particles are lower than bulk wood. Quantitative analysis concentrated on small area and got more exact results. In a 90 degree particle quantitative study, MPM simulations were shown to be capable of tracking the structure of wood particle plastic, which involved failure. The entire approach, however, is not very robust. We can get some results for mechanical properties, but it does not seem possible to extract all anisotropic properties from a few DIC tests, as some researcher have suggested. / Graduation date: 2012

Ces travaux sont consacrés à l'étude de la déformation d'interfaces liquides planes par la pression de radiation acoustique. Deux configurations expérimentales sont étudiées, selon que la vitesse du son du liquide d'où vient l'onde est plus grande ou plus petite que la vitesse du son de la seconde phase liquide. Ces travaux de recherche fondamentale ont pour objectif de comprendre les différentes formes complexes observées : jets, déformations en forme de doigts, tétines. Cela est rendu possible par le développement d'un modèle de couplage entre la propagation de l'onde et la déformation de l'interface. Ce modèle est notamment utile pour la compréhension et la caractérisation de colonnes liquides à la fois créées et stabilisées par la pression de radiation acoustique. Pour chacune des études, un parallèle est fait entre les déformations d'interfaces par un faisceau ultrasonore focalisé et par un faisceau laser continu. / Acoustic radiation pressure allows us to remotely create and manipulate liquid objets. Using a highly focused transducer, which emitted field is studied, we can create large aspect ratio and complex liquid interface deformations. This fundamental research aims at understanding these various objects. For this purpose, we developed a theoretical model taking into account the coupling between the wave propagation and the deformation of the interface. This model allows us to predict the characteristics of liquid columns both formed and stabilized by the acoustic radiation pressure. A study of acoustic liquid jets is performed as well. Moreover, we characterize finger-shaped andpacifier-shaped objects as piles of acoustic waveguides. The acoustic wave creates a liquidobject self-adapted to its propagation. For each of these studies, we compare deformationsobtained via the acoustic radiation pressure and the electromagnetic radiation pressurefrom a continuous laser beam.

Déformation des extensions peu ramifiées en P / Deformation extensions slightly branched P

Le forgeage à chaud est un procédé de formage des métaux utilisé pour former des matériaux qui sont difficiles à former à froid ainsi que pour réaliser des géométries complexes. La réduction de la limite d’élasticité à haute température et une augmentation subséquente de l’aptitude à la mise en forme constituent le principal mécanisme à l’origine du procédé. Les méthodes numériques constituent un moyen efficace de prédire les états de contrainte / déformation du produit à différentes étapes de la mise en forme. Bien que les méthodes classiques soient suffisamment précises pour fournir une représentation appropriée du procédé, elles ont tendance à être coûteuses en ressources informatiques. Cela limite leur utilisation dans des cas concret, en particulier pour des études d’optimisation du procédé. L’approche pseudo inverse (API), développée dans le contexte du forgeage à froid 2D axisymétrique, fournit une estimation rapide des champs de contrainte et de contrainte dans le produit final pour une forme initiale donnée. Dans ce travail, l’API est étendue pour inclure les effets thermiques et visco-plastiques dans le procédé de forgeage ainsi que dans le cas général 3D. Les résultats sont comparés aux codes commerciaux disponibles basés sur les approches classiques pour montrer l’efficacité et les limites de l’API. Les résultats obtenus indiquent que l’API est un outil assez efficace pouvant être utilisé à la fois pour des simulations 2D et 3D du forgeage à chaud. / Hot forging is a metal forming process used to form difficult-to-form materials as well as to achieve complex geometries. The reduction of yield stress at high temperatures and a subsequent increase in formability is the primary mechanism that drives the process. Numerical methods provide an efficient means to predict the material yield and the stress/strain states of the product at different stages of forming. Although classical methods are accurate enough to provide a suitable representation of the process, they tend to be computationally expensive. This limits its use in practical cases especially for process optimization. Pseudo Inverse Approach (PIA) developed in the context of 2D axisymmetric cold forming, provides a quick estimate of the stress and strain fields in the final product for a given initial shape. In this work, the PIA is extended to include the thermal and viscoplastic effects on the forging process as well as to the general 3D case. The results are compared with commercially available software, based on the classical approaches, to show the efficiency and the limitations of PIA. The results obtained indicate that PIA is a quite effective tool that can be used for both 2D and 3D simulations of hot forging.

Cette étude aborde la conception de l'espace tunisien depuis l'Occident au croisement des notions territoriales Africa et Tunis, à travers la représentation cartographique à l'époque moderne du XVIe siècle au XVIIIe siècle, d'après des sources issues principalement des collections de la Bibliothèque nationale de France. Cette étude a pour ambition de proposer un travail d'investigation de l'image cartographique de l'espace tunisien en privilégiant deux approches : une approche structurale historiographique et une approche quantitative. L'objectif principal de la présente étude est de détecter les grandes phases historiques dans la représentation de l'espace tunisien, à partir d'un corpus assez dense. Je propose d'individualiser trois groupes d'images cartographiques caractérisées par des déformations similaires, qui me paraissent correspondre à des étapes importantes de l'évolution cartographique moderne ou encore à de grandes ruptures dans sa construction. Ces étapes correspondent à chaque fois à de nouveaux récits de voyages et par la suite à une évolution du regard. L'ensemble des cartes est représentatif non pas de l'édition cartographique mais de l'évolution des techniques et des connaissances géographiques. Les « cartes-modèles » ou encore les « cartes-mères » que j'identifie dans un premier temps, sont ensuite l'objet d'une expérimentation à partir de méthodes quantitatives. Cette approche, qui porte sur les déformations des surfaces, vise à une comparaison entre deux surfaces : une surface-source supposée « exacte » et une surface-image correspondant aux exemples historiques analysés. / This study deals with the concept of the Tunisian space, seen from the West as an intersection of the territorial concepts of Africa and Tunis, throughout the cartographical representation of the modern period, from the 16th to the 18th century. The study is essentially based on cartographic material from the collections of the French National Library. This thesis aims to investigate the cartographic representation of the Tunisian space through two main approaches: the first one is historiographical and structural at heart while the second is quantitative. The main objective of this present study is to detect the essential historical steps in the cartographic representation, from wide sources. So far, I suggest identifying three groups of cartographic images, which are characterized by similar deformations. These images correspond with important stages of the modern cartographical image or even major breaks in its construction, connected with new travel accounts and an evolving representation. Ali maps are not only representative of the cartographical edition but also of the development of technology and geographical knowledge. The « model-maps » along with « mother­maps », once identified, are subsequently subjected to experiments, through a quantitative approach. This approach, which centers on surfaces deformations, is meant to establish a comparison between two types of surfaces: one, the source-surface, which is presumed to be accurate and the other, the image-surface, which corresponds with the historical examples we consider.

Neste trabalho estudou-se o reforço de vigas T de concreto armado tanto por meio de adição de armadura longitudinal ao bordo tracionado envolvida por um material compósito (argamassa com fibras curtas de aço), quanto pela aplicação de uma capa de pequena espessura de microconcreto de alta resistência ao bordo comprimido. Para estudar as possibilidades da aplicação prática destas duas técnicas de reforço avaliou-se o comportamento das vigas reabilitadas verificando a influência: da atuação de um pré-carregamento durante a execução do reforço, das deformações diferidas diferenciais (fluência e retração) existentes entre os materiais novos e antigos e, dos mecanismos de resistência mobilizados na transmissão de esforços na junta - formada pela ligação do substrato ao concreto do reforço - ou entre as barras de aço tracionadas preexistentes e adicionadas em função da ausência de estribos envolvendo-as. Para redimensionar as peças reforçadas no bordo tracionado foram realizados ensaios complementares para identificar, dentre as várias fibras disponíveis comercialmente, qual a que proporcionaria ao material compósito, um confinamento suficiente que evitasse a ruptura prematura da viga pela tendência de deslizamento relativo entre as barras de aço tracionadas devida à ausência de estribos neste local. Para redimensionar as peças reforçadas no bordo comprimido realizou-se ensaios complementares para determinar as propriedades viscoelásticas dos materiais usados no substrato e no reforço, tornando possível estimar as descontinuidades geradas nos estados de tensão e deformação ao longo do tempo já que tais materiais são moldados e submetidos a carregamentos em idades distintas. Os resultados dos ensaios das vigas reforçadas de seção T foram analisados e comparados com previsões teóricas feitas a partir da adaptação de métodos analíticos convencionais recomendados por norma para estruturas novas, e a partir de simulações numéricas usando um programa computacional baseado no método dos elementos finitos. Do estudo realizado foi possível: comprovar a eficiência das técnicas de reforço propostas estando as peças submetidas ou não a um pré-carregamento durante a execução da intervenção, compatibilizar alguns dos conhecimentos teóricos existentes a fim de poder usá-los na análise teórica das vigas reabilitadas, além de reunir uma série de informações úteis que podem ser exploradas na definição de estratégias e procedimentos de projeto de estruturas reabilitadas semelhantes / This paper reports on the results of a study about the behavior of reinforced concrete T-beams rehabilitated using two different techniques. The first technique consists of the addition of longitudinal reinforcement embedded in a steel fiber reinforced highperformance mortar at the bottom face of the member. The second technique consists of rehabilitation by adding a thin overlay of high-strength concrete to the compression zone. The parameters analyzed to verify the possibilities of practical applications of these techniques were: the effect of a pre-loading acting on the beams during their rehabilitation, the differential time-dependent deformations (creep and shrinkage) between the new concrete and existing base, the mechanisms of resistance mobilized along the interface formed by old and new concrete or between pre-existent steel bars and added steel bars that are not involved by stirrups. Previous tests were carried out to make it possible to redesign the intervention adequately. Theses tests yield useful information about which type and volume of steel fibers need to be added to composite mortar to avoid the premature rupture of the strengthened beam caused by relative slipping between the layers of steel tensioned bars. These tests also give information about the viscoelastic properties of the materials used to manufacture the T-beams. The test results were analyzed and compared with the results of analytic models and numeric models based on the method of the finite elements. Based on this study, it can be stated that the proposed techniques are really efficient even if the beams are submitted to a pre-loading during the process of rehabilitation. Also, existing theoretical knowledge was organized to support the theoretical analysis of the rehabilitated beams, besides gathering useful information that can be explored in the definition of strategies and procedures of similar projects of rehabilitated structures

A major instrumented geosynthetic reinforced approach embankment was constructed to 5.5 m elevation above ground, with prefabricated vertical drains, over a soft compressible clay deposit at Leneghan, Newcastle, Australia in May 1995. The field monitoring of settlements for over six years shows that the embankment manifests significant creep. The instrumentation, field performance and the finite element analyses for predicting the long-term performance of this embankment are described in this thesis. The maximum settlement of 1.1 m was observed one year after the completion of construction. However, the embankment continued to settle at a rate of 0.4 mm/day for the next 5 years. The horizontal displacements of 0.09-0.14 m at various locations and the maximum reinforcement strains of 0.67% were recorded. A numerical model was developed to perform a fully coupled large deformation elasto-viscoplastic finite element analysis for this performance prediction based on creep model proposed by Kutter and Sathialingam (1992). The foundation soil was modelled with creep material behaviour using six noded linear strain triangular elements. A well-documented case history ??? Sackville embankment, New Brunswick, Canada was analysed using this model as a benchmark problem and the model was found to predict all the behaviour characteristics reasonably well. The results obtained from finite element analysis using this model are shown to be in reasonable agreement with the observed performance of Leneghans embankment in terms of settlements, horizontal displacements, excess pore pressures and geosynthetic strains. But, the prediction of settlements was less than satisfactory beyond April 1999. Finite element analyses were performed to study the sensitivity of this embankment behaviour on the variation of hydraulic conductivity values and geosynthetic reinforcement properties. This sensitivity study indicated that the kv variation, the kh/kv ratio and the nominal values of geosynthetic properties adopted in the benchmark analysis are reasonable enough for the long-term behaviour prediction.

Cette thèse aborde le problème de la compensation des déformations cérébrales survenant au cours des opérations neurochirurgicales. Ces déformations des structures cérébrales dégradent la précision des systèmes de neuronavigation, ce qui limite leur utilisation tout au long de la procédure neurochirurgicale. La compensation de ces déformations est aujourd'hui l'un des enjeux majeurs de la neurochirurgie guidée par l'image. La méthode proposée repose sur le recalage non rigide d'images échographiques intraopératoires de type main libre et d'images préopératoires obtenues par résonance magnétique nucléaire (RMN). Afin de réaliser ce recalage non rigide multimodal, un processus incluant différents traitements est détaillé dans ce manuscrit. Tout d'abord, une nouvelle méthode de reconstruction tridimensionnelle des images échographiques de type main libre est présentée. Puis, un travail portant sur le filtre de débruitage des moyennes non locales est proposé. Ce travail aborde deux aspects: l'amélioration de la qualité du débruitage avec une réduction du temps de calcul d'une part, et l'adaptation de ce filtre aux caractéristiques du chatoiement présent dans les images ultrasonores d'autre part. Finalement, une nouvelle approche du problème de recalage des images ultrasonores et des images obtenues par RMN est décrite. Ces différents traitements sont integrés au sein d'une chaîne entièrement automatique de compensation des déformations cérébrales. Les premiers résultats obtenus sur les images de quatre patients sont présentés à la fin de ce document.

Les mouvements de terrain sont un des facteurs principaux de l'érosion des chaînes de montagnes et représentent un enjeu déterminant dans l'aménagement des vallées. Les phénomènes gravitaires se manifestent sous des formes très variées rarement reconnues et rarement analysées dans leur globalité au sein d'un même massif. Ainsi les liens géométriques et dynamiques les caractérisant ne sont-ils jamais abordés. Ils pourraient cependant représenter un apport substentiel dans la compréhension des processus de déstabilisation, la reconnaisssance et la définition des aléas. <br />Nous avons tout d'abord cartographié les mouvements gravitaires rocheux dans la partie occidentale du massif de l'Argentera Mercantour et étudié leur relation et leur répartition en fonction des variables géologiques et morphologiques régionales. Puis nous nous sommes focalisés sur l'étude de deux cas représentatifs actuels d'échelles différentes sur lesquels nous avons testé et calibré la méthode de tomographie électrique (2D-3D-4D): le glissement de la Clapière et un glissement secondaire emboîté a son pied. <br />Notre étude permet d'établir un lien et un contrôle par la structure tectonique des mouvements d'échelles très différentes : Deep Seated Gravitational Slope Deformations (DSGSD), Deep Seated Landslides (DSL) et glissements superficiels. Ce contrôle s'exprime de différentes façons mais il apparaît de manière générale que l'échelle spatiale des déstabilisations gravitaires qui en résulte est directement proportionnelle à l'échelle temporelle des processus géologiques et morphodynamiques.