Colonoscopy provides a minimally invasive tool for examining and treating the colon without surgery, but current endoscope designs still cause a degree of pain and injury to the colon wall. The most common colonoscopies are long tubes inserted through the rectum, with locomotion actuators, fiber optic lights, cameras, and biopsy tools on the distal end. The stiffness required to support these tools makes it difficult for the scopes to navigate the twisted path of the colon without damaging the inside wall of the colon or distorting its shape. In addition, little is known about how sharp and forceful endoscopes can be without accidentally cutting into tissue during navigation. In order to solve the requirements of stiffness (to support tools) and flexibility (to navigate turns), we expanded on a design by Zehel et al. [49], who proposed surrounding a flexible endoscope with an external exoskeleton structure, with controllable stiffness. The exoskeleton structure is comprised of rigid, articulating tubular units, which are stiffened or relaxed by four control cables. The stiffened or locked exoskeleton structure aids navigation and provides stability for the endoscope when it protrudes beyond the exoskeleton structure for examination and procedures. This research determined the design requirements of such an exoskeleton structure and simulated its behavior in a sigmoid colon model. To predict just how pointed an endoscope can be without damaging tissue under a given force, we extrapolated a strength model of the descending colon from published stress-strain curves of human colon tissue. Next we analyzed how friction, cable forces, and unit angles interact to hold the exoskeleton structure in a locked position. By creating two- and three-dimensional models of the exoskeleton structure, we optimized the dimensions of the units of an exoskeleton structure (diameter, thickness, and leg angle) and cable holders ( cable attachment location) to achieve the turns of the sigmoid colon, while still remaining lockable. Models also predicted the loss of force over the exoskeleton structure due to curving, further determining the required cable angles and friction between units. Finally we determined how the stiffness of the endoscope stem affected locking ability and wear inside the exoskeleton structure. / Ph. D.

[pt] Nesta dissertação buscou-se avaliar metrologicamente um banco de ensaios dinamométricos específico, utilizado para analisar a eficiência de motores, lubrificantes e combustíveis, por meio de métodos de comparação dos valores medidos com valores padrões. As grandezas mensuradas foram: velocidade de rotação do eixo de um motor, torque neste eixo, temperaturas e pressões no motor e no dinamômetro, elemento que atua como freio do motor para proporcionar uma simulação das condições reais de trabalho. Foi necessário utilizar dois métodos distintos para avaliação de cada uma das grandezas mensuradas. Foram mensuradas velocidades do motor funcionando e velocidades simuladas, tanto inferiores como superiores às velocidades de operação do motor, determinando os limites superior e inferior de resposta do sistema de medição. Para avaliar a medição de torque, foram produzidos torques conhecidos (padrão), correlacionados com torques medidos no motor funcionando. Temperaturas foram produzidas por um banho termostático, mensuradas com equipamentos calibrados e em seguida comparadas com as indicadas pelo sistema de medição, sendo também utilizado um método simulador de informações de temperaturas, chegando a ser simuladas de -200 graus Celsius a 650 graus Celsius. Pressões foram geradas por uma bomba de pressão padrão e lidas pelo sistema de medição, sendo detectado funcionamento inapropriado de 2 canais. Os resultados de cada grandeza foram tratados estatisticamente sendo validadas suas utilizações nos cálculos executados. Confirmadas estatisticamente as validades dos resultados, as incertezas de medição foram calculadas, sendo utilizadas também informações dos certificados de calibração dos equipamentos usados nas medições realizadas. Sugestões foram apresentadas para que melhoria sejam incrementadas ao sistema de medição que demonstrou estar funcionando de forma satisfatória, apresentando, no entanto, algumas oportunidades de melhorias. / [en] This work intended to evaluate, metrologically, a specific bench of dynamometric tests, used to analyze the efficiency of engines, lubricants and fuels, through methods that compare the measured values with standards. The measured quantities were: rotation speed of the engine shaft, torque on this same shaft, temperature and pressure of both engine and dynamometer, element that acts as the engine brake so it can simulate a real work condition. It was necessary to use two different methods to evaluate each measured quantity. It was measured the working engine speed and simulated speeds, both higher and lower than the engine operating speeds, establishing the higher and the lower limits of the measurement system. To evaluate the torque measurement, known torques (standards), were produced, and related to the measured torques in the working engine. Temperatures were produced by a thermal bath, measured with calibrated equipment, and then compared with the temperatures indicated by the measuring system, being also used a simulated method for temperatures information, with a range of simulation between -200 Celsius degrees and 650 Celsius degrees. The pressures were created by a standard pressure pump and read by the measuring system, being detected an inappropriate operation of 2 channels. The results were treated statistically, being validated the utilizations on the executed calculations. Having been statistically confirmed the validity of the results, the measurement uncertainties were calculated, being also used the information from the equipment calibration certificate. Suggestions were presented so that improvemenst can be made to the Measuring System.

[pt] A determinação do limiar de propagação de trincas de fadiga oferece uma gama de utilização dos materiais na engenharia, na aplicação a projetos que sejam tolerantes ao dano. [delta]Kth é uma ferramenta que permite o estabelecimento de um critério de carregamento sob o qual as trincas não crescerão significativamente durante as operações de serviço do componente. Para sua determinação ser amplamente aplicada, foi necessário estabelecer e estudar os fatores que pudessem influenciá-lo positiva ou negativamente. Dentre os quais, a microestrutura apresentou grande importância porque precisou ser controlada desde a fabricação do material até a colocação em serviço do componente acabado. A finalidade do componente e os esforços a que são submetidos quando em serviço determinam a seleção do material. Assim, enumerou-se características básicas e requisitos mínimos que atenderam a segurança e reduziram a relação custo-benefício. Foram selecionados materiais (SAE 4340 e SAE 4140) cuja composição química e propriedades mecânicas fossem semelhantes ao 42CrMo4 para que pudessem servir de alternativa no emprego de eixos-virabrequim a fim de propor uma solução no problema prático o qual estes vinham rompendo muito abaixo do limite de vida em fadiga a que se propunham. Os resultados obtidos se mostraram satisfatórios pois nos ensaios de propagação de trinca de um dos materiais escolhidos (SAE 4140) obteve-se [delta]Kth de 12,48 MPa[raiz quadrada]m e no material de referência, [delta]Kth (médio) de 6,1 MPa[raiz quadrada]m. A observação da microestrutura do material de referência pode, com ressalvas, ser visto como indicativo de corroboração do resultado apresentado no [delta]Kth, pois foram localizadas ocorrências de inclusões dispersas na matriz metálica. / [en] The determination of the fatigue crack propagation threshold offers a range of materials utilization in engineering, in application to projects that are tolerant to damage. [delta]Kth is a tool that allows the establishment of a loading criterion under which the cracks will not grow significantly during the service operations of the component. For its determination to be widely applied, it was necessary to establish and study the factors that could influence it positively or negatively. Among them, the microstructure was of great importance because it had to be controlled from the material manufacturing to the placing putting into service of a finished component. The aim of the component and the stresses to which it is subjected when in service determine the material selection. Thus, basic characteristics and minimum requirements were listed which have attend the safety and has reduced cost-benefit ratio. Materials (SAE 4340 and SAE 4140) were selected whose chemical composition and mechanical properties that were similar to DIN 42CrMo4 so that they could serve as an alternative in the use of crankshafts to propose a solution in the practical problem which they were breaking well below the limit fatigue life that they proposed. The results obtained were satisfactory because in the fracture toughness tests of one of the chosen materials (SAE 4140) [delta]Kth of 12.48 MPa[square root]m was obtained and in the reference material, [delta]Kth(average) of 6.1 MPa[square root]m. The observation of the microstructure of the reference material may indicate, with restrictions, as a corroboration of the result presented in the [delta]Kth, because occurrences of dispersed inclusions in the steel matrix.

Dans les domaines de l’imagerie médicale et de la vision par ordinateur, la segmentation joue un rôle crucial dans le but d’extraire les composantes intéressantes d’une image ou d’une séquence d’images. Elle est à l’intermédiaire entre le traitement d’images de bas niveau et les applications cliniques et celles de la vision par ordinateur de haut niveau. Ces applications de haut niveau peuvent inclure le diagnostic, la planification de la thérapie, la détection et la reconnaissance d'objet, etc. Parmi les méthodes de segmentation existantes, les courbes géodésiques minimales possèdent des avantages théoriques et pratiques importants tels que le minimum global de l’énergie géodésique et la méthode bien connue de Fast Marching pour obtenir une solution numérique. Dans cette thèse, nous nous concentrons sur les méthodes géodésiques basées sur l’équation aux dérivées partielles, l’équation Eikonale, afin d’étudier des méthodes précises, rapides et robustes, pour l’extraction de structures tubulaires et la segmentation d’image, en développant diverses métriques géodésiques locales pour des applications cliniques et la segmentation d’images en général. / In the fields of medical imaging and computer vision, segmentation plays a crucial role with the goal of separating the interesting components from one image or a sequence of image frames. It bridges the gaps between the low-level image processing and high level clinical and computer vision applications. Among the existing segmentation methods, minimal geodesics have important theoretical and practical advantages such as the global minimum of the geodesic energy and the well-established fast marching method for numerical solution. In this thesis, we focus on the Eikonal partial differential equation based geodesic methods to investigate accurate, fast and robust tubular structure extraction and image segmentation methods, by developing various local geodesic metrics for types of clinical and segmentation tasks. This thesis aims to applying different geodesic metrics based on the Eikonal framework to solve different image segmentation problems especially for tubularity segmentation and region-based active contours models, by making use of more information from the image feature and prior clinical knowledges. The designed geodesic metrics basically take advantages of the geodesic orientation or anisotropy, the image feature consistency, the geodesic curvature and the geodesic asymmetry property to deal with various difficulties suffered by the classical minimal geodesic models and the active contours models. The main contributions of this thesis lie at the deep study of the various geodesic metrics and their applications in medical imaging and image segmentation. Experiments on medical images and nature images show the effectiveness of the presented contributions.

This mémoire presents my current research interests in micro and nano-mechanics in a comprehensive manuscript. Our experimental device is first presented: this atomic force microscope, designed and realized in the Laboratoire de Physique de l'ENS Lyon, is based on a quadrature phase differential interferometer. It features a very high resolution (down to 10 fm/rtHz) in the measurement of deflexion, down to low frequencies and on a huge input range. The dual output of the interferometer implies a specific handling to interface common scanning probe microscope controllers. We developed analog circuitries to tackle static (contact mode) and dynamic (tapping mode) operations, and we demonstrate their performance by imaging a simple calibration sample. As a first application, we used the high sensitivity of our interferometer to study the mechanical behavior of micro-cantilevers from their fluctuations. The keystone of the analysis is the Fluctuation-Dissipation Theorem (FDT), relating the thermal noise spectrum to the dissipative part of the response. We apply this strategy to confront Sader's model for viscous dissipation with measurements on raw silicon cantilevers in air, demonstrating an excellent agreement. When a gold coating is added, the thermal noise is strongly modified, presenting a 1/f like trend at low frequencies: we show that this behavior is due to a viscoelastic damping, and we provide a quantitative phenomenological model. We also characterize the mechanical properties of cantilevers (stiffness and Elastic Moduli) from a mapping of the thermal noise on their surface. This analysis validates the description of the system in term of its normal modes of oscillations in an Euler-Bernoulli framework for flexion and in Saint-Venant approach for torsion, but points toward a refined model for the dispersion relation of torsional modes. Finally, we present peeling experiments on a single wall carbon nanotube attached to the cantilever tip. It is pushed against a flat substrate, and we measure the quasi-static force as well as the dynamic stiffness using an analysis of the thermal noise during this process. The most striking feature of these two observables is a plateau curve for a large range of compression, the values of which are substrate dependent. We use the Elastica to describe the shape of the nanotube, and a simple energy of adhesion per unit length Ea to describe the interaction with the substrate. We analytically derive a complete description of the expected behavior in the limit of long nanotubes. The analysis of the experimental data within this simple framework naturally leads to every quantity of interest in the problem: the force plateau is a direct measurement of the energy of adhesion Ea for each substrate, and we easily determine the mechanical properties of the nanotube itself.

[pt] A avaliação da propagação de trincas de fadiga inclui a identificação da direção da trinca, o conhecimento do Fator de Intensidade de Tensões (SIF) equivalente, a determinação de uma taxa de crescimento de comprimento de trinca por número de ciclos da/dN e o estabelecimento de uma regra de propagação de trinca conectando SIF e da/dN, como uma regra de tipo Paris. Quando ocorrem cargas mistas e não proporcionais, esses parâmetros ainda não são totalmente compreendidos. Esta tese trata de algumas das variáveis que influenciam a propagação de trincas sob carregamento no modo misto não proporcional. A técnica de Correlação de Imagens Digitais (DIC) foi utilizada para a aquisição de imagens de corpos de prova submetidos a carregamento proporcional e não proporcional cíclico. Dois tipos de corpos de prova foram utilizados. Primeiramente, dois corpos de prova planos foram testados; um disk compact tension (DCT, em inglês) e um compact tension modificado (C (T) em inglês). Eles foram submetidos a carregamento cíclico induzindo o modo I de abertura de trinca ou modos I e II de abertura de trinca proporcionais. Em segundo lugar, os dados DIC adquiridos anteriormente, e em outro lugar, para cinco tubos finos sujeitos a carregamento cíclico foram analisados. Os tubos finos tiveram entalhes usinados a partir dos quais as trincas por fadiga iniciaram e se propagaram. Esses cinco tubos finos foram submetidos a diferentes casos de carga proporcional e não proporcional. Um corpo de prova tipo tubo fino foi exposto a carga axial e apresentou modo de abertura de trinca tipo I. Os outros quatro foram submetidos a carregamento de torção ou carga axial-torcional mista e exibiram todos os três modos de abertura de trinca I, II e III. Os campos de deslocamento adquiridos experimentalmente com a técnica DIC foram processados para calcular independentemente o SIF para cada modo de abertura existente usando formulações de mecânica de fratura elástica linear (MFLE). Uma formulação delas utilizou dados de deslocamento de campo completos adquiridos em pequenas áreas que circundavam a ponta da trinca. Outra formulação usou dados adquiridos de um par de pontos localizados ao longo dos flancos opostos das faces da trinca. Os SIFs determinados foram usados para encontrar os SIFs equivalentes e faixas de SIF equivalentes usando o critério da tensão máxima de tração (para ambas as versões 2D e 3D de combinações dos modos I-II e modos I-II-III respectivamente) que implicitamente incluíram o ângulo de propagação de trinca. Verificou-se que a inclusão do SIF no modo III experimentalmente determinado efetivamente faz diferença nas faixas do SIF e dos SIF equivalentes estimados. A curva da/dN versus faixa do SIF equivalente foi elaborado com as taxas de crescimento de trinca medidas experimentalmente e as faixas de SIF que foram encontradas usando a suposição amplamente aceita de que as trincas cresceram na direção que maximiza a tensão de tração. Para isso, extensões do modelo de Schollmann et. al. e bem como o modelo de Erdogan-Sih, que são geralmente aplicados ao carregamento proporcional, foram usados para determinar os SIFs equivalentes e faixas de SIF equivalentes para os casos de carregamento proporcional e não proporcional. Finalmente, a segunda zona da regra de Paris (da/dN versus faixa do SIF equivalente) foi plotada para os cinco casos de carregamento nos tubos finos mostrando que eles caíram dentro de uma faixa razoavelmente fina e dispersa. / [en] Fatigue crack propagation assessment includes identifying the crack direction, knowing the equivalent Stress Intensity Factor (SIF) range, determining a crack length growth rate per number of cycles (da/dN), and establishing a crack propagation rule connecting the equivalent SIF and da/dN rate, such as a Paris type of rule. When mixed and non-proportional loading occur, those parameters are not fully understood yet. This thesis deals with some of the variables that influence crack propagation under non-proportional mixed mode loading. The Digital Image Correlation (DIC) technique was used to acquire images of test specimens subjected to cyclic proportional and non-proportional loading. Two types of specimen samples were used. Firstly, two different plate test specimens were tested; a disk compact tension (DCT), and a modified compact tension, C(T). They were subjected cyclic loading inducing crack opening mode I or proportional crack opening modes I and II. Secondly, the previously and elsewhere acquired DIC data for five thin tubes subject to cyclic loading were analyzed. The thin tubes had pre-fabricated slit-notches from which fatigue cracks initiated and propagated. Those five thin tubes were subjected to different cases of proportional and non- proportional loading. One tube specimen was exposed to axial loading and presented mode I crack opening. The other four were subjected to torsion loading or mixed axial-torsional loading and exhibited all three I, II and III crack-opening modes. The experimentally acquired DIC displacement fields were processed to independently calculate SIF for each existing opening mode using linear elastic fracture mechanics (LEFM) formulations. One formulation used full field displacement data acquired in small areas that surrounded the crack tip. Another formulation used data acquired from a pair of points located along the opposite crack flanks. The determined SIFs were used to find equivalent SIFs and equivalent SIF ranges using the maximum tensile stress criterion (for both 2D and 3D versions of combinations of modes I-II and modes I-II-III respectively) which implicitly included the crack propagation angle. It was found that the inclusion of the experimentally determined mode III SIF indeed makes a difference in the determined equivalent SIF and equivalent SIF ranges. A da/dN versus equivalent SIF ranges plot was drafted with the experimentally measured crack growth rates and the SIF ranges that were found by using the widely accepted assumption that the cracks grew in the direction that maximizes the tensile stress. For this, extensions of the Schollmann et. al. model as well as of the Erdogan-Sih model, which are generally applied to proportional loading, were used to determine equivalent SIFs and equivalent SIF ranges for the cases of proportional and non-proportional loading. Finally, the second stage of the Paris rule (da/dN versus SIF range) was plotted for the five thin tubes loading cases showing that they fell inside a reasonably thin scattered band.

[pt] O trincamento de camada de mistura asfáltica é o principal tipo de deterioração das rodovias, e o presente estudo pretende contribuir para conhecimento dos processos de fissuramento com o objetivo de incorporar novos parâmetros mecânicos para melhorar projetos de pavimentação rodoviária . A modelagem computacional através do Método dos Elementos Discretos (MED), permitiu fazer uma simulação da iniciação e da propagação do trincamento em um ensaio de tração direta chamado de Disco Circular com Fenda (Disk Shaped compact), considerando uma abordagem da teoria da mecânica da fratura elástica linear (MFEL) e a incorporação do modelo constitutivo de zona coesiva (MZC). As modelagens realizadas permitiram inferir o comportamento de corpos de prova de Disco Circular com Fenda DC(T) feitos em laboratório. O método dos elementos discretos monstrou-se uma ferramenta apropriada para realizar este tipo de simulação. Também foram feitas análises da sensibilidade da resposta do modelo em relação a diversos parâmetros mecânicos do material: módulo de Young (E), resistência à tração (RT) e energia da fratura (Gf). Este último parâmetro foi obtido da área sob a curva tração-deslocamento da abertura da boca da trinca (CMOD). A análise foi realizada considerando o corpo como material homogêneo atribuindo-se a todas as partículas propriedades idênticas. A modelagem numérica 2D foi executada através do programa comercial PFC2D baseado no MED. / [en] The cracking of asphalt mixture layers is the main type of deterioration of roads in Brazil, and this study aims to contribute to improve the knowledge of cracking processes in order to incorporate new mechanical parameters into road pavement projects. Computer modeling by the Discrete Element Method (DEM), permitted the simulation of the initiation and the propagation of cracking in a tensile test called Direct Circular Slotted Disc (Disk Shaped Compact), whose interpretation is based on the theory of linear elastic fracture mechanics and considering an specific elastoplastic model known as the cohesive zone model (CZM). Results of Direct Circular Slotted Disc tests were obtained in laboratory and interpreted by numerical simulations using the discrete element method, with good results. The sensitivity of model response with respect to various mechanical parameters, such as the Young s modulus (E), the tensile strength (RT) and the fracture energy (Gf) was also analyzed. This last parameter (Gf) was obtained considering the area under the traction-displacement curve from the Crack Mouth Opening Displacement (CMOD) test. The analyses were carried out considering the body as a homogeneous material, assigning to all particles identical properties. The 2D numerical model was analyzed using the commercial software PFC2D based on the discrete element method (MED).